Sure, you can remember your time in NREM, and if you do, it might just feel like a void, or as described in the OP. NREM time occurs mostly in the early hours of your dream cycle, though, so if you are lucid towards the end of your cycle, say, after 5 or 6 hours of sleep, you should be more likely to be in REM than NREM. So, if this darkness happens then, it could be during REM, and that just means your dream is a bit undeveloped.
Regardless, darkness should have no impact on lucidity, I think, as you can possess just as much self-awareness during a dark dream as during an amazing technicolor extravaganza dream. Indeed, since there are no distractions, lucidity might be even easier to maintain in dark dreams!
But you don't want those dreams to be dark, right? Well, I have a suggestion: brighten the dream yourself! This can be done with an action as simple as waiting patiently for the adventure to begin. If you wait with confidence, if you are sure that an interesting dream will develop, then it certainly will... it also helps to have a place or plot in mind while you wait, so your unconscious has something with which to work.
As I think Twitch already said, doing some daytime work to build expectation and self-awareness would be a help as well. In the end you've already done the hard part -- you are lucid in the dream -- getting your mind to do what comes naturally to it, namely dreaming, might just be a matter of patiently waiting for improvements.
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