Can you have lucid dreams right after sleeping? And during naps?

Hello!! I have had several lucid dreams (about 20/30) and they are always at the end of the night or early in the morning. Has anyone managed to have lucid dreams right after falling asleep? Since I always do the technique of sleeping 5/6 hours, waking up and inducing lucid dreaming with a series of techniques, but I have never managed to induce it right when I fall asleep. Advice or opinions? I have also not been able to have lucid dreams during naps. Does anyone have any tips for having them during naps?