Welcome to the forum!
Yes, lucid nightmares are possible, though they're typically no more frequent than regular, non-lucid nightmares. Emotions are amplified in dreams, both lucid and non-lucid, so it's not unheard of to be terrified of something even though you know it is a dream. Though you can usually wake yourself up once you know you're dreaming, I would advise training yourself to stick around in the dream and reassuring yourself that nothing can hurt you in the dream. Perhaps try to associate the feeling of becoming lucid with calmness, so that when you do realize you're dreaming you can stop being scared. Often nightmares signify that your subconscious is trying to get your attention, so you can even ask the dream why you are scared, or what the scary elements represent. I've had numerous nightmares that I've managed to turn into pleasant experiences by becoming lucid.
As for the numbness (I'm not a doctor, this is just my opinion from my experience with LDing), it sounds like it might be some mild Sleep Paralysis caused by a run-off of REM Atonia. REM Atonia is the normal process that happens every night where your brain "disables" your muscles when you go to sleep, preventing you from acting out your dream motions in real life. Typically REM Atonia wears off when you wake up, but sometimes if you wake too fast (or if you have some kind of sleep disorder), you become conscious before the REM Atonia wears off and discover that you can't move your body - a condition known as Sleep Paralysis. This would explain your experience with both of your arms being numb (though like you said, it very well could've been a dream as well). As for the general numbness, my opinion is that your REM Atonia isn't fully wearing off - it dissipates enough to allow you to move, but there's enough residual to still give you a bit of numbness in your extremities. It also makes sense since REM Atonia/Sleep Paralysis episodes are typically more common when sleeping on your back or when you are exceptionally tired.
So in summary, you may have a mild sleep disorder that causes some minor REM Atonia run-off. Overall it's nothing to worry about - like I said, REM Atonia is totally normal and completely safe - just a minor inconvenience.
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