After much discussion with another student, we've determined that what I did is correct except for a typo in the last line. The answer is $$ P(W_{X(t)+2} \leq t + s) = 1 - e^{-\lambda s} - \lambda s e^{-\lambda s}. $$ Rather than focusing on the Poisson process on its own, it's better to think of things as a renewal process and consider the special case of Poisson processes.