Hi there!
I've got a recommendation, but it's in German, unfortunately.
I might endeavour to extract some of the content of this, or one or the other ones - but for those being able to understand it in the original:
What they are on about there is what they call the magical triangle, one video for each edge:

In the middle is insight into the dreaming state (=Traum-Erkenntnis), basically what is usually meant by being lucid, and it's often termed Klarheit in German as well, same as you use lucidity - a lucid dream is called Klartraum, directly translated that means "clear-dream".
We don't mean with that to have optical clarity or something, but rather cognitive clarity, and it's usually lumped together with the insight-aspect of it.
But they solve the term Klarheit from that alone, and consider it as rather your presence of mind. They say you can well have insight, which defines, what you experience as a lucid dream, but it is not said, that you are also in full possession of your critical mental faculties, your cognition, your memories - often one is a bit muddled in that respect. True enough!!
So they differentiate there, and have loads of useful tips, for those of you able to follow.
Well - maybe later more, maybe I just leave it as it is - they're good, they really are - and funny.
Edit: I guess, I need not translate Kontrolle and Stabilität...
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