If you mean completely realistic and vivid... while being lucid.... yes I've had this only once.
Unfortunately it only lasted about a minute.

And my control was limited due to the realism. However it was a spectacular scene - next to a lake, with autumn colours and the sun shining brightly. Vineyard to my left above puppies playing on the grass.
And amazingly realistic ripple effects on the lake.

I couldn't fly... probably due to what I said already, it was 'too' realistic