Stress is the most common bringer of lucid nightmares. I have only experienced them when in a stressful life situation. Non lucids can be kinda random or from fear, but lucid nightmares means that even when you know that it isba dream you feel like you need to control it, but have no control of it.
Or, it could just be that you had the feelings of your waking body in the dream state. Pretty rare, but I have had it before and it sounds similar, sounds that aren't there, a buzzing that feels almost like you are being electrocuted without the pain, not being able to move because your body is connected to the waking one. Fear is a normal aspect of rem atonia for those that hit it the first time, or the randomness might have just scared you. I have been scared in lucid dreams before without it being a nightmare. Just because you know a movie isn't real and you can pause it when you want to, doesn't mean that it is impossible to scare you or that it has to bring a crippling fear (nightmare), it can just be a little sometimes too.
Once I actually fell asleep with my wife's arms around me and when I realized I was dreaming, she was standing next to me grabbing me (like she had her arms around me in waking), even with good dream control, flash steps, teleporting and the like, I couldn't get rid of her and it woke me up.
One time i woke up when my wife was on vacation, I felt like there was another person in my room, a dream feeling had made it's way into waking life. It wasn't a "scary feeling" it was just a strange one. I just felt like I was in a room with more than just me. The opossite can happen as well. There is not as clear of a distinction between waking and sleeping as we think. Waking feelings come into dreams and dream feels come into waking.
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