No, you wake up after REM, unless you are interrupted by something. Everyone wakes up after each REM or dreaming cycle, it's either so short or we don't remember the waking up part in the morning. The amount of dreams nor the content matter when trying to lucid dream. Of course being able to dream at night and remember them is crucial, but not exactly to being able to lucid dream. You can lucid dream with no recall- you just wouldn't remember it.
If you find you often wake up and then fall asleep back into the previous dream, you should try dream incubation. This is where you isolate the intent and focus yourself to gain lucidity when you see a certain thing, or you keep an idea and incubate that, so when you see it you will become lucid. In your case you should wake up and incubate the previous dream in hopes you return to it again.
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