My lucids usually give me an adrenaline feeling, but instead of fear, it's happiness. Know that everybody is different, and each have their own level of vividness. Everybody can increase their level of vividness, by simply rubbing their hands in a dream, or focusing on an object in a dream. This signals the concious mind while lucid, making the dream feel more real.

I have also developed the ability to disconnect from real life and, with some concentration, actually be there like it's a lucid
How do you do that? That sounds like WILD, but im not sure if thats what your talking about.