I have narcolepsy. The daytime drowsiness started when I was 19 and got progressively worse during the later years of my university study. I pretty much abandoned attending class by my 3rd year.
What you describe as 'lucid dreaming' sounds similar to what I used to call my 'party trick': I would sleep soundly through the compulsory PhD seminars or a few years later my MBA classes, then wake up as the speaker asked for questions. Straight away I would ask a relevant and insightful question! People around me would look stunned: "How could you do that? You were asleep!"
So somehow while sleeping, my subconscious mind was still absorbing the talk. When I woke up, I had no idea what the talk was about, but bizarrely I usually knew what question to ask. Even today, 20-25 years later, my MBA and uni friends remark on it.
In my case, I've learned to stop at all controlling the dreams, despite being aware of whether or not I am dreaming, and that seems to have helped.
However, both of us are simply relating anecdotes; we may both have had significant sleep issues arise even without the lucid dreaming (albeit in a slightly different form).