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Clearly your settings are in the neighborhood.
Tripod for sure. I was going to say mirror lock up but you don't have one. Delayed shutter / timer function will help as well.
For settings, look at what the camera ran while on auto, and then use those manually for starters. Then decrease the shutter speed to slow it down and get in more light for too dark a picture, or vice-versa.
Check ISO as well, try to keep it low enough to avoid noise, and make up for the lost sensitivity by having a slower shutter speed / let in more light. Maybe hard set ISO, then give an auto run, then transfer those settings to manual.
What time of night did you take this? Pretty cool that you did so.
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