Willful Lucid Shared Dreaming is an advanced dream skill.

Recall is the foundation.

Control and Lucidity are the Pillars.

Master those three, you open the portal to shared lucid dreaming.

I had lucid nightmares for 20 years before I attained dream control. Yes... lucid nightmares. MAYBE THAT'S WHAT YOU NEED? LUCID NIGHTMARES?