Do i have to wake up 5-6 hours after goin to sleep to produce a good lucid dream?

im not good at naps, and i wont fall asleep unless im sleepy, but i also feel like crap if i wake early, last time i tried this the right way (usually i tried waking after 3 hours , or WILD from start) i had a dream that was easy to remmeber but i wasnt even aware it was a dream while having it

does anyone got anymore tips?

btw that reality check stuff that you practice even when you are awake.... thats not for me, i feel like im a bit crazy when i do that.