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I don't think I have too much to offer, but I have had one experience of visualization which led to an Astral Projection. Most visualizations end up as Lucid Dreams.
Visualization though is an art, and it helps to learn how to do it while fully disconnecting from your body. Many times I start visualizing something intense and my eyes open or wince, which of course gets in the way of falling asleep.
But for Lucid Dreams, you want to focus more on the objects already there in your visual field, which are elements of your personal subconscious. For Astral Projection, it helps to visualize (softly) the contents of your room, the feeling of standing in a specific spot and the sight of the walls and doorways.
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