I personally have. And I'm sure lots of people here have as well. I think it may be because our mind simulates things based on our senses, and while we sleep, it can do that without the limits of our physical bodies. Or something like that, lol. But yeah, some lucids (and nonlucids) I've had were extremely vivid to the point that the colors and my senses were really heightened.

Congrats in getting to experience that too!