They can indeed be exactly as crystal clear as waking life.
This is something I had problems fully accepting in the beginning, since I had this typical naive attitude that "dreams are always blurry".
But really, the only reasons why ordinary dreams tend to be blurry are because you are "on auto-pilot" in them and don't reflect on your current surroundings, and because you tend to forget a lot of details when you wake up, which makes you remember them as more blurry than they actually were.
If you are lucid in a dream, then you are by definition much more aware of your current state and therefore more focused on details, which makes the dream more lifelike, and if your dream recall is good then you also remember a lot more details, which will also make your memories of them remain more vivid.
When I wake up from a great lucid dream it practically feels like I have teleported from one place back to my bed - it's not a typical feeling of "waking up" in the usual sense, it's more like I warp between two different places.
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