Congrats on the lucid dream!
It's nice that dream control is working out for you, next time apply that expectation to flying!
Length will definitely improve, as for vividness, you should increase your awareness. When you do reality checks in waking life, do you do them just mechanically? If so, that's the wrong way to do it. Before you do reality check, look around, search for anything weird and completely believe that you might be dreaming, then put emotions like "Wow, am i dreaming?", and after that do reality check itself while fully expecting it to show you that you are dreaming.
Also for making dreams more vivid and stable you could try some stabilization techniques: Dream Stabilization and Clarity Tutorial - Lucid Dreaming - Dream Views , though remember to not become too dependent on them.
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