Lucid dreams will probably never feel exactly like reality. You'll never be 100% conscious as if you were totally awake, and things will always seem "off", or a bit dreamlike. But details can become incredible and you can feel weight, impacts, wind, feel your breathing... Improving your recall and raising your awareness more can help make the dream seem like less of a memory while you're in it. As you become more experienced you'll get a feel for how dreams work and you'll be able to improve your surroundings better through stabilization.