@modern-trojan, Wow, you've described your Lucid Dreaming Experience so beautifully and i have to say that, I've tried to do Astral Projection while sleeping and when i waked up, In a way it was like my body faced Sleep Paralysis, it was scary but something very unique experience too. Stay blessed.
First of all thanks for reading, and yes, it is very scary sometimes, but it's definitely worth exploring..
Welcome and yes. 👍👍