I've tried to lucid dream before but only managed to do so 2 or 3 times. My dream control sucked too, so the most I could do was just walk around and spectate.
What I can do consistently is hypnagogia. Every evening, I would take a pseudo-nap in which in which I'd be sleepy but not enough to actually fall asleep, so that I would still be awake and aware. What usually happened after is that I would feel a droning sensation / noise which I would let crescendo. I would then start seeing vivid imagery, almost like daydreaming but more dreamlike. It was cool since I was still aware of my surroundings.
I also experienced a few other things, like paralysis and hallucinations. Paralysis wasn't scary to me, 1. Because it was still day, 2. Because I was expecting it, and 3. I almost never hallucinated anything (The only thing I've ever hallucinated was a rat sniffing me) I've also experienced an auditory hallucination in which I heard whispering. Other than that, it's been common stuff like hypnic jerks. They're all very cool though.