I can relate with you on this because I wood-push as well, and one thing I have to try next time I lucid is some tricks down a rail or set, just to get the feeling of riding away from something huge. I am also in the same boat with you because I am relatively new with this, and have only managed to attain lucidity once. If you have the time and commitment, I would suggest looking into WILDing on some of the tutorials here, because thats what I have been working on and getting the most results from.