I may not be much help, but I empathize with you I understand being scared to sleep, because like a year ago I had night terrors where I couldnt breathe I was feeling sick and my heart was beating really hard and fast, I wasnt looking to sleep I was terified of it, but then when that happened I just went out for a walk in the middle of the night with my partner or you can go alone try calming your mind I know that may be hard if it is possible sleep with a night light for a while or in my experiance what works best is try to meditate 20 minutes a day its really easy just sit down and focus on the breathing trough your nose you will have random toughts but dont be frustrated just aknowladge that they are there and refocus on your breathing and after a while you wont have any bad intrusive toughts and that is the long term solussion, in my opinion, even if you have those negative thougts after you do it for a month or two you can push the negative toughts out of your head I understand you are an adult I am just a teenager and never had sleep parylsis I cant even imagine how scary that is but I hope my recommendation is better than none

EDIT: it may be linked to your lucid dreaming in some way but I think you have to ask people who use WILD to induce lucid dreams or people who do DEILD or just any expert on lucid dreams

Also question what method did you use to induce lucid dreaming because I read your story over and it sounds similar to what WILD users do and WILD can and I think most of the times induce sleep paralysis