Has anyone successfully summoned a succubus that has stayed with them as a companion? What methods have worked successfully? Any tips or tricks?

Of course have people doing it, successfully and unsuccessfully, with various results, from nothing happening, to being visited by some and have some experience, to being horribly haunted. It's all within range.

Tips or tricks? For what?
This is not something lighthearted to do for which you get one or two tips and tricks, to get a better bargain at a store or something ...

There's various ways of doing this but if you have no experience I wouldn't suggest it. You can and will bite off more than you can chew.