Lucidity is basically awareness in a dream. If it felt like more of you was "there" in the dream, and you were somewhat more aware than you normally are, then yes, you were close to lucidity! Know that dream control and lucidity are totally different things, though. I've flown and turned into animals in many of my non-lucid dreams, and sometimes in my lucids I couldn't manage to shapeshift at all (just the nature of that specific dream). Shapeshifting may be a sign that you're thinking about dream control and possibly lucidity, though, which is a good thing.
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