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It's sounds like you were definitely on the right track. Don't worry about not experiencing hypnagogia - it's a good indicator you're getting close, but it doesn't always happen, so don't distract yourself by waiting for it to happen. As for the aching, if I had to guess I'd say it was just the position you were in. Your position for WILD really doesn't matter a whole lot, so just sleep in whatever position feels comfortable.
I'd also suggest not dragging your attempt on for as long as you did. There's not really a reason to stretch it out for an hour and a half - usually, if you can't get it within 30 minutes or so, it's probably just best to give up on your intense focus and just get comfortable and go to sleep. Since WILD is mainly a mindset you're setting, just going to sleep after attempting WILD can often keep you in that mindset and can, as you experienced in the second attempt, increase your chances of a DILD. Obviously, you can't lucid dream if you can't fall asleep, so if WILD's really keeping you up that long, it's more beneficial to cut it short and just get some sleep.
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