I think you were lucid, it's just that your awareness was just not that high. There's a video by a great lucid dreamer on YouTube that explains this great. He goes by the name reecejones and the title is called layers of lucidity. You had the inkling sensation of lucidity, you just needed more awareness and I'm no expert myself, just a beginner myself also but I hear a lot in these forums that a solution to this problem is to stabilise your dream first and just immerse yourself into the dream world, really anchor yourself to the dream, look around, observe your surroundings before moving on further into your dream or that foggy state will still persist. Look at all the details in your dream world, look at your hands, the lines and wrinkles, what do you hear, smell etc. Immerse all your senses and just think to yourself, I'm here, I'm awake, aware, I know I'm dreaming and then continue. Hope this helps 
Before I even discovered lucid dreaming or knew what it was, I found that I could control things even though I wasn't lucid. Like I would shut my eyes to wake up during a scary dream, or fly but I was doing this without any awareness, like a robot, without really thinking what I was doing.
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