I may be new but this scenario has been on my mind for a while now

Now I have just recently had my first lucid dream, (to an extent) which was at first kinda weird, I usually don't even remember my dreams without writing them down, but that night I specifically remember 4 separate ones in detail as well as accomplishing a minor level of control.

I have also been known in the past to sleep walk, and during select few of my sleepwalking "sessions" I vividly remember dreams having correlation with where I walked to or what I was doing subconsciously as if it was an out of body experience itself.

My question is, during one of these sessions after "mastering" my lucid dreaming, would it be possible to consciously control my "subconscious" self as it were sleepwalking, yet retain the rested state sleep is for? In theory would it be possible to be in a state of insomnia, performing daily tasks while still retaining a mind not suffering the sanity issues many insomniacs do.