Hey Shanir! Welcome to DV!
This is a good question, and one quiet a few people ask. In my experience, a lucid dream can really vary in how real it feels, just as a regular dream can. Sometimes they will be a little hazy, sometimes you will feel 2000% in the moment. One benefit of a lucid dream is that you can control your own behavior in the dream, so during a lucid dream you can stop and focus on your environment to make it EVEN clearer than it already is. Lots of people talk about their lucids being just as real as RL, or even "hyper-real". So, as long as you put in the effort to stabilize your dreams, even a non-vivid lucid can be made to be very realistic.