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I've come close. I often wake up and experience sleep paralysis, and try to separate my astral self from my body. The most I've managed so far is to pull myself up a few inches, roll 360° and then 'land' back in my body.
What you have to wonder is, did you see anything verifiable that you could not have seen without being out of your body? If not, it may have just been a lucid dream. Have you had lucid dreams before that you can compare it to?
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