Hi there, I don't know too much about lucid dreaming. But after what I know, REM sleep which is very active in the awakening fase or your sleep might come in the afternoon, especially if you didn't sleep fully the night before. Why would you otherwise sleep in the afternoon then? So lets say you sleep for about 5 hours the night before, and do some afternoon napping, then you will be sleeping under REM, also because your body is sort of rested, it doesnt need too long to rest it self fully out, so it would probably stay in a normal sleep and REM fase during that nap, not the heavy sleep-fase which you have at night, which really rests the body. If you sleep for 5 hours, you get enough of that, and soft/normal sleep and REM sleep which also rests the body in a normal way, though awakening will occur in the afternoon.
This probably sounds weird, I'm weak on explaining. This must be the only conclusion from my side, hope it helps.
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