It's possible, and I've actually done it, too ^^;
But I should state here, that I go into the Hallucinations phase spontaneously a lot. Without effort, I reach this phase 4/7 nights. I'm very fortunate with this gift! But my hallucinations tend to be extremely frightening, so as soon as I notice I'm going to that phase, I wake myself up.. ..until now! Music mutes the auditory hallucinations for me, so I just have visual ones, and those I can deal with.
I think the trick is in being so relaxed you can literally "not think" and just watch incoming thoughts go by, and when the colour swirls come I just watch them go by without focusing on one of them or whatever, and I just transition into a false awakening. I do a RC whenever I wake up, so I do it in the FA as well and boom. I'm lucid.
Relaxation and passive attention is the key, I think.
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