There's a trick in examining your hypothesis: you have to remember that different people often have very different experiences of dreaming, even when we're comparing lucid dreams. For example, it seems like when you realize that you're dreaming, you automatically attain full control over your environment—that, or you only consider yourself to be "lucid" at the point that you attain that full control.
My experience is more similar to what splodeymissile is describing: control and lucidity are independent factors. I often have dreams where
I am in full control of the "narrative" of the dream, but I don't at any point actually realize that I'm dreaming. Some of us call this being "semi-lucid," because at some level, we realize that we're dreaming, we just don't make the conscious connection. On the other hand, becoming lucid—that is, realizing that I'm dreaming—doesn't necessarily mean I'm in full control of the dream. It can be very frustrating to realize that you're in a dream and not be able to exert the dream control that you want to. This is why many of us struggle with completing certain tasks like teleporting and summoning.
Also, I have
nightmares, but I wouldn't say that I fear DCs. To me, a nightmare comes from the lack of control that I'm exerting in a dream; at that point, any feeling of fear begins to permeate the dream and impact the narrative. I don't consider DCs to be independent entities, so even if one of my nightmares has a focus on a specific DC, I still wouldn't say that I "fear DCs."
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