I just woke up from a nap and had a bit of a weird lucid dream experience. It's something that I've experienced to varying degrees several times throughout my life, so I figured I would ask if anyone has also had anything like this and if there's a way to resolve the issue.

In this lucid dream, I felt only like I was half asleep. I was actually partially aware of my physical body in the bed - like when I moved my arm, I was fully aware that my arms in real life were stretched out above my head and I could kind of feel the bed under me. But I was also aware of my body in the dream world. I had a bit of trouble moving in the dream and, only after relaxing a bit, was I able to take any kind of action. But it felt sluggish and difficult and lacked the vividness of reality.

The dream world itself was also not fully formed. I could "see" the world around me but it felt only partially like I was seeing it and also partially like I was visualizing it in my head. In vividness, it seemed like an elevated daydream rather than a fully immersive dream. Like I was "thinking" the stuff around me rather than experiencing it, though it was slightly more real than an actual daydream. It felt in general like my mind couldn't decide whether it was in this world or the real world.

Interestingly, there was one point in the dream where I heard an amazingly beautiful song playing which doesn't exist. This was the most vivid part of the dream... I could clearly make out the lyrics, melody, instruments, etc. I never before have wished so badly that a song was real because I very much want to hear it again (has anyone had an experience like this?). But I digress.

I've had extremely vivid lucid dreams before where I got so lost in them that I almost lost my lucidity. So I know that I'm not doomed to only have half lucid dreams. But it was still a bit of a frustrating experience, almost like a waste of lucidity since I was lucid but only in a half-formed and non-vivid world. Has anybody else experienced this and overcome it somehow? Or have any insights on what could be happening?