Sometimes there is some sort of realization of being in a dream but it's always at the moment I'm waking up.
I'm pretty jealous of people with lucid dreams, it must be fantastic.
It's crucial that in the time your body falls asleep, you don't make any voluntary movements (just as if you were to fall asleep normally). I've also read about a trick that you can help you stay mentally awake. You have to pretend as if you were tapping with your index and middle finger, but only just so that they don't actually move. This also helps you realize when your body falls asleep. I'd say WBTB (Wake back to bed) is the most reliable method for lucid dreams.
Same here, very well worded. That's the case for me in maybe 3/4 dreams. The more emotionally intense ones have that "now" feeling though.
Search online for some practices to help induce lucid dreams. There are things that could help. For example, creating a habit throughout the day to check if you're dreaming. e.g. look in the mirror and ask if it's a dream, or look at a clock and ask if its a dream.
If you create this habit in normal life, the idea is that it will carry over to your dreams. Just realizing a dream is a dream should propel you into lucidity. Dreams rarely seem to get reflections and clocks right.
I always wonder how "real" do dreams feel for people who dream lucidly, but then I realize that it wouldn't matter for me. The level of realism, details, the feelings - are irrelevant, since it would only be a memory, at no point in time I would ever be experiencing it. It would be just a faint, happy, memory of something that didn't happen.
I researched a little and found this book, may be you find it interesting, so here it is: