Yes! It just takes practice. I started out finding a comfortable position and relaxing with a timer set for 15 minutes. After years of practice, I now hit RE

Yes! It just takes practice. I started out finding a comfortable position and relaxing with a timer set for 15 minutes. After years of practice, I now hit REM almost immediately and wake up feeling rested without a timer in 15-20 minutes. It's easier for your body to learn if you have a specific place (e.g. a coach), time (e.g. immediately after lunch), and position (I cross my ankles and steeple my hands on my chest). These make it feel qualitatively different from night sleeping and easier to wake up naturally. You also want to pay attention to sound and light. I use noise-cancelling headphones at work and earplugs + white noise at home. I choose a well-lit area, preferably with natural lighting, and then cover my eyes with a cloth or sleep mask. It's easier to feel refreshed when you uncover your eyes to bright sunshine, rather than waking up in a fully dark room. Honestly, the main challenge is feeling self-conscious when napping at work. Originally I would lock myself in a shower room or go out to my car, but I'm finally self-confident enough to sleep on a public coach.