I think Lucid dreaming is an intense help for a better understanding and moving into a trip. I don't think you are, in both cases, travelling in so different states of consciousness (first time someone I know took shrooms, he was almost sure he was just asleep, and dreaming)

Just, substances can lead maybe to more impactful part of yourself, while dreams, ime, are more protected in that sense.

Always be careful, if you never took anything learn how to get into the psychedelics little by little, without too huge dosage or hurry. You may find wonderful treasures there =)