You're on your way there with lucid dreaming! Any amount of awareness during sleep increases your ability to cause sleep paralysis which is your gateway to astral travel. When you are lucid dreaming, you simply have to make yourself wake up. Sometimes this will actually wake you up like normal, but if you're lucky you will wake up into sleep paralysis. For me, I tend to wake up in sleep paralysis from a really bad nightmare. These are easier to induce eating fruit before bed - for me bananas and spicy mangos are the most effective. And inducing a nightmare sounds scary - but i just mean an intense sort of dream so it's not always too bad, it can be goofy things like being chased by a claymation dinosaur but still the panic within the dream state will be enough to startle you awake - you are basically inducing intensity. Acetylcholine-boosting supplements also help - there are a lot of vivid dream inducing supplement mixes that should work but do not use anything with melatonin - you need a degree of wakefulness.

For that, you also have to avoid things that take away your dreams. Whether that be certain foods, weed, alcohol. This is dependent on your own body - alcohol gives me vivid dreams sometimes, but everyones different.

All that out of the way step two sleep paralysis!! So sleep paralysis is scary, you will wake up and not be able to move, you may feel like you're screaming but no one in your home reacts or whatever, you may see/hear entities in the room with you.

when you try to move your body you most likely will not be able to at all. when you are familiar with sleep paralysis, and enter it with the goal to move your body, you will be able to move a little bit but it will feel like your body is wrapped in a sticky web and when you move a limb it "snaps back". There's a lot of bad advice online - about imagining being sucked into a portal, imagining a rope and climbing it, none of that shit ever worked for me. The only thing that worked was thrashing, you basically feel like you're fighting a really strong current, or breaking through a taut layer of plastic bag, then you pop out of your body!

from there i'll let you experience it yourself. you have to figure out how to move and such bc the astral body works a bit differently but its not something you can explain. i hope you are successful and that your first experience is pleasant! it is my belief that nothing can tangibly hurt you in this realm because nothing can violate the sanctity of your soul, but that's just my personal feelings. But things can be dangerous emotionally. And if you are in a bad mental state you will attract bad shit. But if you get scared you can hide in your body, which you'll immediately snap back to as soon as you imagine it - if you go far. Most people also say they can conjure a shield if something is ever bothering them - i prefer just going back to my body though. Astral "fighting" is very strange and unpleasant feeling, so its best to run imo. Also know that everything is instantaneous - everything you think will happen to a degree, there is no hiding desires or thinking things through. Everything is just instant - you think about going to the roof, you are already there. Your surroundings will look familiar but not and be constantly shifting, and there will likely be astral entities around. Astral beings are no different from strangers in the waking world, so don't automatically trust whatever they say. Tell me if you have success, enjoy!