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The only requirement for a dream to be considered lucid is that you realize at any point that you are dreaming. So this definitely counts as a lucid dream.

The multiple awakenings you had could've been False Awakenings. So you may have still been dreaming, and just dreamed that you woke up on a strange couch. A good way to catch them is to perform an RC every time you wake up. If it works, then you're actually awake, but if it doesn't, you can continue your lucid dream.