My usual lucid dream are very hard to maintain awareness in and I feel more like an aware zombie then actually fully lucid. Because sometimes I can valuate the dream task more important than something that is actual important. For example if you dream that you are going to get a very important bag to a friend, but then get lucid shouldn't you stop caring about that bag since you know it's only a dream? You feel completely aware and you can even think that oh my dream school looks exactly as it does for real.
Only to realize upon awakening that you weren't as aware as you thought and the school doesn't look like that at all.

Urges like sexual drives are also something completely inevitable in my lucid dreams.

My lucid dreams are also controlled by my expectations. And I usually don't have any memory from the physical world.

Although last night I had an experience that didn't matched any of the things I wrote above. You can read about it in my dream journal. It's titled: Communicating With Entities.

I didn't experienced anything to prove that it was more than just a dream, although I wonder how your experiences are like. Does the same "rules" or "laws" apply in your lucid dreams?

And have you ever had an non-physical experience/ dream where you remembered exactly everything from the physical memory?

Thanks.