Unless your near waking up lucid dreams are always very real. Problem is a lot of lucid dreams you start waking up so they fade some. Or if you have bad recall or go into a false awakening it can get a little fuzzy.

I know from the few WILDs I have had, they can be very real though. I wish I was better at them because your fully lucid and everything looks real. So you really have time to look around.