Occasionally. It sometimes happens when horny but too tired to do anything about it. Those lucid dreams tend to end up wet dreams instead. If i go to sleep after a heavy meal, i get vivid dreams that can become lucid. They’re mostly nightmares until i realize they’re dreams and then either i wake up to escape or turn the tides. Sadly, guns don’t really work in such dreams and as a workaround, i go ‘pew pew’ and the enemies just drop dead where they are. It can also happen if i go to sleep after reading an engaging story or playing a good game, with my mind still full of that environment. I will go to that imagined world, break off into fanfiction, then realize where i am and take over the creator’s role. It can be fun at times, not so much at others.