It does pass with practice. I remember my lucid dreams 20 years ago were very different from the ones I currently have. With timeyou learn to stabilize and increase your lucidity level fairly fast as soon as you enter a lucid dream. The problem is that most lucid dreams start out at a very low lucidity level, and people think that's all there is to them. With practice, you can expect lucid dreams to feel very very real and last for around 40 min each... I'm actually currently experimenting with time manipulation, so I'm trying to make 20 minutes feel like 3 hours. So it's all possible, don't be discouraged