YES i do this all the time -- i have to say sometimes the dreams are a little disturbing because they are still not real. I often find im suddenly in a situation, but i can make conscious decisions about how to react or behave in that situation and then the dream evolves
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Oh nice :) Well that means you aren't in full lucidity because once you are, you will know!
but not many can do it consistently like you describe to be in semi lucidity so good on ya ;)