Yes, but I have 3 catches to this, two being personal and one theoretical.
The first is that I'm a very go with the flow kind of person, so even when I recognize that something is impossibly different or out of place within a dream, I tend to just go along with it.
The second is that even if I'm in full lucidity, the experience is often short because I tend to wake up. This is good for nightmares where I tend to be directly in harms way, because I can just nope out of there, but bad for enjoyable experiences.
And third, I don't think we're in control of whether we get to be in control within a lucid dream. I don't know the official terminology, but while I'm certain the ability to see things within our mind through recollection, imagination, and dreaming all share a connection, they're different processes.
Something I'd like to know from others, is,
Have you ever have dreams where you're someone else entirely?
Have you ever had dreams that last a significant amount of time within them, such as multiple days having passed in their entirety or longer?