I am not sure I believe anyone is always lucid. I almost always have an idea that I am dreaming, when having a normal dream, but it is a very subtle awareness. So I do still have normal non-lucid dreams often enough. I have been highly involved with LDing for 23 years. I just started posting a dream journal here 8 days ago, and have had 10 LDs in that time. If you look through it, the dreams vary alot. In the Hawaii WILD I have extreme lucidity and wonderful dream control, to the point that no DCs or random events happened at all in a 90 minute long LD, and I could decide every aspect of the scene. It did take about the first 20 minutes to get the scene to have good clarity and color though. In the Astral City dream, I had good lucidity, and the images were in very high definition from the first moments. But, being a dream in an alternate plane that is full of entities, I could not modify the scenery or control the actions of the others involved. I could jump to the top of buildings, or spider climb the sides, but could not move or effect the buildings. In the two dreams before that, I am highly lucid, but my brain kept trying to make me be involved in a scenario, and I had a couple DCs that kept coming up despite my desire to just train my skills. In a couple of them the color and clarity would not cooperate. I even have some dreams where dispite being fairly lucid and having control such as easily levitating or making DCs appear or disappear, I end up reacting in a way that is random and stupid. Kind of like I have been drinking and have amazingly poor judgement calls.
I have not always been like this, I started at about 15 years old and had little success until I was 17. I used similar techinques to the ones I am sure most of you are trying. However, I am now turning 41 soon, and have 23 years of practice. I bet anyone could have as much control and lucidity as I do, but they would have to stick to it and enjoy every LD along the many years it takes.