I've had sort of a similar experience, but over a much shorter time period than you've experienced.

I once became lucid at some sort of birthday party. I didn't know where I was, or whose birthday it was, but upon realizing that I was in a dream, I immediately became curious of my surroundings and started questioning the dream characters. It seemed like these were real people or entities from a different world. When I asked where we were, what city/state we were in at the time of the dream, they gave me an answer that was a different state than which I live but I do not remember the exact location. At this moment, I think the only time I've re-encountered my dream characters (other than people I know in the waking world) is if I wake from a dream momentarily, then fall right back asleep and practically continue on with the same dream.

Maybe the people you share dreams with are people you knew in a past life or some sort of parallel dimension.

I've also met my Dream Guide, but I've only seen him once and it was a few years ago.