Hi Serene, yours is a wonderful story. Thanks for sharing. I am quite envious that you have such an amazing dream guide who has helped you through your life. Of course the guide is your inner self, so he's not more intelligent than you!
You said at the start that something was eating at you, but I didn't quite understand? What you have described by your lucid dream experiences and your dream guide won't surprise many on this forum. Hopefully that is putting your mind at rest?
If you are able to have regular, vivid lucids, then you have a gift. I would recommend you look into the experiences of the likes of Stephen LaBerge and others about what you can do with your gift, in terms of a higher purpose.