The problem is most likely dream recall. You think your dreams aren't vivid, while in reality you're just forgetting so many details that it's not the dream itself that's vague, but your memory of the dream.
I have the same problem as you and don't keep a dream journal for the same reason as you (but planning to start one very soon). I'm convinced that (at least in my case) this is the reason why my lucid dreams aren't OMGAWESOME yet.
I actually tested this in one of my dreams. I walked outside my house and tested all senses: I had very clear vision, I could hear birds chirping, I felt plants and sniffed them. I told myself multiple times: "when you wake up you'll remember that your lucid dreams are really vivid".
When I woke up, I couldn't remember sound nor smell nor feeling anything. But I did remember that specific thought I had.
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