Astral projection with lucidity

Is it possible to astral project from lucid dreaming? If so how?

Perhaps by recalling, inside a lucid dream, a specific place and willing to go there. A risk may be to actually remain in the dream state; but in at least one occasion I wanted to wake up just in case I was dreaming (which was the case) and I succeeded.
Finally I’ve read, alternatively, something about spinning fast while lucid dreaming…

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Yes, the astral is a realm of imagination, collective unconscious. Think of the dreamscape as your own pocket of the astral. You’re basically stepping outside of your pocket and into the bulk of the astral.