Somehow the brain doesn't feel like dream memory is worth "saving" and as soon as you wake up, you'll forget about it. You have to try and recall dreams every morning and eventually the brain will know that it's something it should "save" and not just throw away. That's a logical viewpoint, exactly how it works I don't really know.
Lucidity in a dream is awareness, why it's not super vivid and solid is because you're not just looking at a scenario and processing what you see, the brain makes every single image up on its own (along with the sounds, smells, feelings etc) and it can't be an easy task. That's why we need to focus.
And one more thing, imagine yourself getting up, walking outside, doing ten different things and walking down to your supermarket. Now, try to recall everything exactly as you imagined it. You'll find that it's almost the same with dream memory, it's not very easy. I've got a theory when it comes to memory and it's that the more senses you incorporate in the action, the better the "imprint" ie, memory of that action will be.
To answer your final question, lucid dreams are a bit easier to remember than normal dreams as you're aware when you're waking up and hold on to the memory you just came out of. There's still a chance you'll lose the memory though so stick to it and lie still, try to remember everything you experienced in as much detail as possible before writing it down.
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