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The algorithm involves techniques of how to extend the experience at least to 3-4 minutes, with a maximum of 15 min. And meditation is the worst thing to do because that's relaxing and relaxing just ends the experience faster.

I suggest you look into the algorithm of techniques by Mihail Raduga. I tried some other techniques, including binaural beats and that stuff, before with no results at all. But this worked the very first time, but I got scared of how realistic it was.

I actually watched the lecture series "Михаил Радуга - Видеосеминар Выход из тела за 3 дня" "Vyhod iz tela za 3 dnya". It's in russian, but really good, they practise techniques a bit also.
I know I shouldn't be afraid, but it's still weird. I know it's just my imagination, but during the experience it's difficult to not be afraid. But of course I will try and achieve a complete seperation.

Yes, partially, because dreams, AP, OBE etc. happen during sleep paralysis. But I was in an altered mind state, because I didn't hear real surroundings, and was able to move, but I was afraid to turn around to see what was that.

This morning I tried astral projection (used the algorithm of Mihail Raduga). While I was using the phantom limb technique I wanted to get up, but felt something lay down next to me in the bed and touch my back. I was a bit afraid to look what it was, and tied to scare it away, but it didn't work. So I ultimately fell asleep, I know I should have continued to get out.
So is there any way to make these things not happen again?
It has happened before, when I didn't even know about astral travel, but then this, whatever it was I unconsciously imagined, was more aggressive.