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Too realistic dreams...
In the past few weeks my dreams have been nothing out of the ordinary except for the time I was lucid a few days ago. It used to be tons of stuff that didn't make sense, now it's nearly all legit. When I do become lucid, it's always random, without a "sudden realization." It's more like I started out lucid in the dream, even though I know I didn't. On top of this, I can only remember a few events before I became lucid, and sometimes only the situation I'm in.
By the way, This was my first lucid with nearly total control. I didn't lose lucidity; in fact, I forced myself to stay asleep. And by nearly, I mean that when I woke up, I began asking myself, "Why didn't I think of doing this, or this, or this?" Possibly I was just too exhilarated with the amount of control I had. I'll keep working on it, but please speak up if you have this same problem. To simplify, I mean that I have total control and I'm aware of it, but I don't think about doing X and Y and Z simply because I'm having too much fun flying or whatnot.
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I guess I have some good news, and some bad news, then... :P
Yes, I also have your problem with waking up and thinking "why didn't I do that and that instead?" And I have around 22 years of experience. But, not all my lucid dreams are like that, so it's possible to overcome. The lucid dreams I have earlier in the night will often be much like you described (except that I don't focus on lucidity because I get lost in the dream, and only control it when I feel like it at the moment), and my clarity of thinking will be much better during the lucid dreams I have in the morning.
So don't kick yourself if you don't have completely clear thoughts in all your lucid dreams! :)
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What do you think about the realistic dreams question though?