I used to be worse. I had many lucid dreams, but usually woke up within 15 seconds.
The few times I did achieve a lucid dream that lasted minutes was when I was not fully aware. I knew I was dreaming, and everything looked vivid and cool, but I wasn't aware enough to remember my real life or that I'm really lying in bed or that my actions don't affect reality, and it didn't even occur to me to try to change anything, or to do anything other than I was already doing in the dream. It was still definitely a lucid dream. I remembered it better than I ever could a normal dream, and everything was very memorably vivid.
It sounds counterintuitive, but maybe you should at least try dulling your lucidity a bit. Make sure you remember that you're lucid, but leave it as a spark, don't think about it too much, don't repeat to yourself "OMG IM LUCID DREAMING!!!!!" or anything, and continue to be involved with whatever you were doing in the dream before.
I'm guessing, from hearing others' experiences, that it is possible to have full, aware and long-lasting lucidity. I hope to achieve that someday, and I hope you do too. I'm just saying that, in the meantime, it wouldn't hurt to try this technique the next time you become lucid, as it's a bit of a different experience.
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