So I'd love it if you (the reader ) had some thoughts on this and would share them with me

This applies to both lucid and non-lucid dreams and the big grey area in between.

A friendship or romantic relationship will usually feel far more real if the dream character is not someone from waking life but a unique person. I don't know how lucidity (clear-headed and clearly aware of the dream) affects this, because this is a a recent thing and I rarely have dreams where I'm clearly aware and my lucid dreams are 5-10 minutes so I don't know about that yet. But it always feels good when I wake up from it. It also feels good when I am in the dream, even though I know they're not really like people from waking life, they're dream characters and they seem to know this (perhaps because I think they'll know, so that makes them appear like they know), but it's pleasant regardless. Just cuddling or doing something random, talking, whatever.

Beside feeling good, it's also interesting you know.. For the same reason I'm curious about how and why we experience music the way we do or why we dream in the first place. How elaborate and seemingly-real dream characters can get.

Have a nice day!