It seems from your drescription that you were lucid on that very last moment before waking up - from the moment you realized you were dreaming.
You don't have to go trough sleep paralisys to lucid dream. That happens to people using the WILD technique (going from being awake directly into a dream) but you can become lucid in a middle of a normal dream (DILD).
Yes, you can have scary lucids the same way you have scary non-lucids, but in a lucid there's a greater chance you'll get to kick the scary guy's ass. 
Dreams can last from a second to 30 minutes and maybe more. Most of the time you get 5 to 10, but, like LaoTze said, your perception of time might make you feel like you've been dreaming for hours. From what I hear that rarely happens, though.
What you feel, see, ear, smell, taste in dreams depends on how much you're aware of these things while awake and on luck. You might never feel pain, always feel pain, or sometimes feel it and sometimes not.
Tasting food (or anything else) it's fairly easy to do. If you expect to taste, chances are you will.
Hope this helps.
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