I'm not sure lucid dreaming is all it's cracked up to be. I've experienced it every night for most of my life. It's all quite entertaining -- I have some really awesome dreams -- but the dreams are also very visceral and a negative[1] dream can leave me emotional throughout the day.

Unsure if related, but I rarely wake feeling refreshed. Need to get a referral for sleep study...

[1] Sadly, none of the dreams are positive.