The part about knowing what you want to dream about is so true (for me at least). I know from my experiences that if I haven't gone out of my way to plan what I want to do in the dream, If I do have a lucid dream, I don't really do much of anything. I kinda just do whatever, which is usually nothing very interesting.
Something interesting I tried to do once was called WILD (Wake Induced Lucid Dreaming) where you basically just slip from a waking state into a sleeping state and go directly from conscious to dreaming, resulting in a lucid dream. It didn't work, but I think I came close, and some weird stuff started happening. I started hearing people saying my name, and I started hearing cars driving by and seeing lights from the cars, but I know there wasn't a car. I don't think I was sleeping at that point, just very close to it, but either way it was weird.





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