I can't quote all the science behind REM cycle off the top of my head, but it's basically the period when we dream after a few hours. Around six is when it peaks and the dreams become the most vivid, so that answers one part.
When you feel partly awake in your dreams, it's probably because, like you said, you woke up briefly then immediately went back to bed. People use that as an induction by waking up, and trying to jump back into that REM cycle with that same waking consciousness. Or it could be that you have such a habitual sleeping schedule, your body has come to expect when it's meant to wake up, so that might be a factor.
Since you've already been having lucid dreams but find they return to normal ones, I guess you'd have to work on stabilization. Or, pretend you're in a lucid dream, then after realizing it, practice staying calm. Do it enough times in your head, and you'll be prepared for the real thing. Just make sure you know at least one thing you want to do when you have another lucid dream. Often it's the excitement or confusion on what they should do that makes people wake up or lose lucidity.
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