Oh sure! My own purpose for lucid dreaming is spiritual growth and discovering inner knowledge! But unfortunately there are not enough Information about those who have achieved them and how they did them through lucid dreaming.

The only deep explorations I have done in my lucid dreams were meditation (which was wonderful and I was somehow sucked into circulation of energy and also my mind was very focused) and asking my subconscious several questions (the reaction was funny! The inner world tells the truth very clear without morality). For example, I asked it about a religious pathway, suddenly my subconscious showed its hate to that path by making me swallow out severely.

So I think lucid dreaming are even better than hypnosis for communicating with inner world but I still doubt if it can be used for higher spiritual goals. This maybe only possible after sever purification and karma removals!