I know this is possible to some extent. I have had reoccurring lady friends. I know this family of three women, a mom and her two adult daughters (DCs) who have been in my dreams for many years. When they show up I recognize them and they are like long term friends. Sometimes I just hold hands with one of the daughters and go for a pleasant walk. Some times we all share dinner. On occasion I make out with the mom (and sometimes kiss one of the daughters).
I think it may be asking too much at first to have the same DC in every LD, because control takes a long time, but eventually if it is your goal you can do it. I also have a dream guide who is very familiar, like a respected older brother. We have spent countless hours talking.
You can in fact develop deep emotional attachments to your recurrent DCs, in fact at one time I had considered exclusively dating the mother (how silly is that! But true). I however, then met my wife IRL and I actually had a emotional sense of being sneaky and cheating when I spent time with the DC. The DCs are not my puppets, and in fact the mom has frequently got jealous and pissed off if I mention my wife.

What crazy fun! Endless possibilities! I am very touched by your line of questioning and hope beyond hope that we can help you achieve this! What a worthy goal.