It should only take about 15-30 minutes. It might take longer if you have a hard time falling (back) asleep. You are doing everything right. I would take a close look at your timing. Take a regular nap at this time to see if you dream. The body distortions and vibrations you describe are probably REM beginning. Time your nap to be closer to whatever time this occurs.

It sounds like you don't get a lot of visual hypnagogia. I am the same way. I feel physical sensations. Try to take advantage of this when it is time to finally enter the dream. Imagine yourself running, or touching things. Imagine your dream body engaging in some familiar physical activity. This should transition your awareness from your real body into your dream body.