How do your dreams end? Slow fade out, or instant eject? Are your dreams ending based on certain actions or at seemingly random times in the dream? Maybe resolving to keep your senses immersed in the dream, periodically do stabilization like quickly patting down your body (chest, stomach, legs) with your hands, etc. Do you know what time in your sleep schedule are you dreaming?
I'm not quite as far along as you (I just hit LD #10), but I know that my LDs almost all end due to increased excitement or losing track of the dream environment. My longest so far are also all about 3-4 minutes. That's just about the time, I'm noticing, where my lucidity may start to waver a bit. Personally I'm going to work on becoming really well grounded, and periodically boosting awareness of my dream body by doing a quick pat-down and glancing down at the body, it just takes a few seconds and I think the results are very good.
I think 20-30 LDs is still considered in the beginner range. I know I would like really long LDs as well (20+ minutes, 40 minutes ,etc.). But first, just getting lucid is the goal, and once there, begin to work on control and stabilisation. The more lucids, the more practice, the better they'll get. At least that's my focus. And practice visualizing in waking life becoming lucid, doing a quick stabilization, and "grounding" yourself (reminding of goals, etc.) before just running off .
p.s. and learn to enjoy all your dreams, don't become frustrated, keeping a positive expectation is key to LD frequency and quality.
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