I think you are doing good. The truth is LDs are almost never as vivid as real life. It is not like the Matrix where you experience everything from real life. Parts of it may become vivid but other things may fade. You focus on a turtle in the sand and it becomes wonderfully clear. Did you notice that you can no longer hear the seagulls and waves? We do not really feel our whole body while awake. We focus on obvious things like what our hands are doing or a discomfort we have. Work on getting things clear but be satisfied with much less than real life quality.
Here is a Master tip: Think about what Occipitalred said about "I tell myself it will take a bit of time for the dream to load all the details" and think of the dream as software being processed by a computer (your brain). What do you do if you want to play a high resolution game on a PC which does not have an adequate video card? You can turn down the visual details so the game runs faster. Often you can continue a lucid that would have collapsed the same way. You reduce the clarity and amount rendered and it allows the processing to catch up. I may focus on tying my shoes in black and white low resolution until things catch up. This saves me from many lucid dreams ending before I want.
You can experiment just in changing the amount of detail but do not worry about pushing it too far.
What if that is not enough for you? Back to the video game situation, you can upgrade the video card to get more out of the game. How? Time and many lucids and building the visualizing part of your mind. If you really want to put in the work, the results can be amazing. Here is a link to a lesson about doing this.