Not all the time, but times like last night/this morning; I can wake up - use the bathroom. Go back to sleep almost instantly back into the same dream. I woke up briefly about 4 times, just to drink some water, or check the time and would sink back into the same dream [With the intention of it]

I was just wondering if this is a form of lucidity.. And if anybody else can do this kind of thing?

Thank youuuu.