Hi Nick, welcome to Dreamviews!
I'm not sure, but it sounds like what you are describing are known around here as hypnogagic hallucinations. They tend to happen when we lay down to go to bed and we're just beginning to fall asleep, or when we're very relaxed. They can be visual, auditory, tactile, ect. A lot of times when you're falling asleep, they'll make you snap back awake.
It's pretty cool that you're having some lucids already. A lot of people here might be jealous! I think that if you start a dream journal (if you don't have one already) and try some of the techniques like MILD, you'll probably be lucid dreaming at will in no time!
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