Lucid dreams can be both foggy and ultra-vivid, it depends largely on how "awake" you are during that dream.
You could compare it to how alert you are in waking life:
if you are excited about your surroundings then you will feel very present in the moment, but if you are tired and disconnected - or if you are daydreaming - then you will probably not notice that much of what's going on around you.
It's sort of the same thing with lucid dreams.
Anyway, lucid dreams can definitely feel like waking life.
Personally I seem to be quite good at getting False Awakenings (dreams about waking up) for some reason, and they are usually so vivid that I actually easily become confused whether or not I am awake.
For example, I once got a False Awakening where my bed was rotated 90° to the right and where a mysterious television that I had never seen before suddenly stood by my feet, and all of this was of course a very obvious sign that I was dreaming, and I was lucid for a while;
but I immediately became insecure about everything when I put my feet on the floor, because the floor felt very hard and a little cold, and almost everything in my room seemed to look roughly the same as in waking life, and I didn't know what I should believe.
Then 10 seconds later I woke up, and my bed was at its normal position again and the television was gone.
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