Sometimes I am lucid and making conscious decisions in my dreams trying to control things, and sometimes I succeed and others fail.

But there are times when I am lucid and making decisions that surprise me when I wake up; decisions I would not normally make.
It feels like I was in control but with my subconscious-self, but I am not sure that's a thing.

I lucid dream from time to time, but I am not an expert, so I am sorry if that's a repeated question.