If you are aware you're dreaming, than you are lucid dreaming, there isn't a "sorta" lucid, unless you believe in being semi-lucid, but still. Here's something you can do, try to focusing on touching as many things as you can, and just focus on getting tactile sensations.
You said you felt drunk, and that the dreams aren't vivid, but the more you start "absorbing" the contents around you, and take your time (just know that you will have a long lucid, and go with it), you will develop more clarity in your dreams. In the few lucids I've had, I can't do as much as I want to as well. I feel often constrained by "gravity" in the dream because I'm still in the infant stage of learning to let go of waking life concepts in dreams as well.
Whatever location you end up in your lucids, focus on touching your body other than just your hands, really focus on those small sensations and build up from there (from the bumps to the walls to the rough texture of carpet flooring, etc.)
And you also said you can't think properly to do something, maybe it's because you feel that there's so much you can do, and since you're not constrained by focusing on your waking life body, your thoughts will have more space to be expressed, which may explain why there's a sudden overwhelming rush of thoughts.
A practical way to resolve this is to simply relax and try to take things in small steps, I know it's hard to do because there's the feeling of wanting to use as much time as you can lucid before it ends makes you want to rush things, but if you just take it slowly, and focus on developing your dream senses more, you'll see gradual, but significant progress in your lucid endeavors.
I don't know if you checked this guide, but it gives the basics in how to have better dream clarity and stabilization. I know the fundamentals can be annoying, and it's up to you to decide if you want to learn from them or not, but they can be a great help in the long run.
Dream Stabilization and Clarity Tutorial - Lucid Dreaming - Dream Views
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Also, it is hard for a while to not focus on your real body, but just try to imagine the experience as a shift in consciousness, and that your movements are based on your thoughts, not on what's going with your body.
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