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No; a lucid dream is a dream in which you know you are dreaming. They CAN be very detailed and vivid, but they don't have to be.
Sleep apnea is a sleeping disorder that causes a person to stop breathing while they are asleep. What you're describing doesn't really sound like that. The tingling sensation
may have been a result of sleep paralysis, but it's not uncommon to continue to feel things that were happening to you in your dreams after you've already awakened. If you wake up in SP, you won't be able to move.
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