There is someone I'm good friends with I've been using somewhat as a test dummy with my meditation stuff, reaching out to him. I'm ready to visit him more concretely in this way. I have a vague idea of what I want to do already, so I'm gonna test that. I'm generally new to lucid dreams and astral projection so any tips will be very appreciated!
Usually when I lucid dream, I have stopped trying to enter any realm of the astral plane anymore. I just find it much more comforting to do as I please and relax for a while. But if you do try, just keep in mind that you do not want to jolt yourself awake. The best way I have found of waking up is closing my eyes, feeling for my body in the physical world, and counting to three, then attempting to open my eyes.
It's also a good idea to keep a pretty clear idea in your head of your whereabouts. Once when I was lucid dreaming and attempting to enter the astral plane, I decided I would enter my bedroom, but I wasn't sure how to get there. I found a door, closed my eyes, and told myself that when I opened it, it would be my bedroom. It wasn't, but I think if I had focused a bit more, perhaps closed my eyes and counted to three while visualizing it more clearly, it would have worked.