^^ There may be more to mastering LD'ing than just being able to consistently have them -- though that is certainly a good thing! For instance, I've been doing this for decades, have had many thousands of "on-demand" LD's, yet by no means do I consider myself a master of the art! Consistent LD'ing is an extremely valuable skill, but it is only a piece of the greater puzzle, and not its solution. Also, wouldn't a master be answering questions, and not still asking them? 
That said, I must ask: if you are able to consistently LD with RC's, why do you wish to do without them? If something works, might as well go with it, right?
That said, you make a good point when you assume that you ought to be able to get lucid without RC's, because you know that there is more to be learned (there always is). I think if you spent time working on self-awareness, you might find yourself using RC's less and less -- though you likely will never fully discard them; I never use RC's to become lucid, but I still do them every day for their own value.
Also, time might show you different ways to become lucid: as you rack up more and more LD's, sheer experience will open new doors to other methods or routines -- I know I know, that's the standard "Be patient" advice, but I think it is sound advice as well.
tl;dr though mastery might still be in your future (and mine), you are fairly accomplished; I suggest you continue working with, and valueing, what you have, work on self-awareness, and new routes to lucidity will find you.
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