I find daytime techniques can be effective, that is doing RCs, writing a DJ and LL lucid living and ADA. Combining it with MILD at night.
I now have frequent prelucid dreams and the occasional lucid dream
(I recently stopped WBTB, SSILD and attempting WILD because I don’t want techniques to interfere with my night’s rest too much)
LL and ADA resemble mindfulness training, but I think it is more fun because of the LD inspiration.
(You can read about LL for example here https://community.ld4all.com/t/dream-control-training-course/31812 )