If you're new at it and you're trying to induce them as much as possible, then you're going to be falling asleep and waking up at arbitrary times, or trying to trick your brain into remaining awake while the rest of your body falls asleep. Also, if you have a particularly intense lucid dream, it's not uncommon to wake up immediately after. So I would say yes, if lucid dreaming doesn't come naturally to you, then inducing them will disrupt your natural sleep patterns.

I have them almost every night (I trained for it when I was 19 and it stuck); when I don't have at least one, I feel far fitter and slept-out than if I did not have one. So I would say it helps sleep. Devices like the Apple Watch or other sleep measuring devices do note that 50-60% of my nights are spent in deep sleep, which, apparently, is a lot.

Some techniques require you wake up in the middle of the night before going back to sleep. Personally I've always had far higher success with these methods than others.