Yeah, you see, the only requirement for a dream to be lucid is, that while you are in the dream, you realize you are dreaming.
So with your explanation, this sounds like a very vivid and realistic non-lucid dream.
Realistic dreams can happen at any time, but they are more often, when you are thinking about lucid dreaming and practicing. That's when you may get more vivid and detailed dreams, with maybe even a touch of awareness, but without realization that you are dreaming. These are non-lucids. After some practice, you may get the awareness and you will realize you are dreaming while in the dream.
Many people get the "whoa, I'm dreaming" incredible excitement when they realize. Good luck with your practice
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