Well Caseyk, first of all, welcome to the Dreamviews community! 
Lucid dreaming may actually bring up many sleep inconsistencies that you have. That is because you become aware in your sleep, so you tend to experience consciously what you usually experience unconsciouly.
Concerning lucidity, what happens to you happens to a lot of people at the beggining. You are probably in great excitement when you find out you're in a dream. The realisation that you're lucid dreaming may make you get overly excited and, therefore, wake you up. What you should try to do is to control yourself, so that you don't get that much excited, and also try one of the several techniques for dream stabilization. For instance, you can keep focusing on your hands, until you feel it's safe to look elsewhere.
You may also want to look for techniques to chain lucid Dreams, such as Klace's DEILD, which consists of the final steps of WILD, since you are already in sleep paralysis. That way, you can enter another lucid dream if yours fades.
You may use your sleep paralysis to enter a dream as well. You will probably be in great fear when in it, but you can use this fear to enter a lucid dream. All you have to do is to imagine yourself getting the superhero out of you (a la Dragonball Z) and send to chaos what had been scaring you. Doing so, you will be immediately taken into a dream.
All you have to remember during sleep paralysis is that it is all inside your mind. It is all hallucinations. Just remember that, when you wake up, it'll all be gone and you will be perfectly flawless. Facing fears is a challenging task, but once you do it you'll be really proud of yourself.
Moving your body when having a nightmare is pretty common. What happens is that, in a regular dream, your brain will take it all as real. Which means that, if you are being chased, your brain will fight for your life and do all that's possible to save you. That way, it may make your sleep paralysis end, so that you can run from the danger you are facing in the dream. It is in no way a sleep disorder.
I believe I have nothing else to add. If you have any questions left, shoot 
PS: please forgive any typos
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