I've never heard that one's sleeping position can actually affect the vividness (or lucidity) of dreams before! I totally know what you mean, by being able to fall asleep easily in whatever position you're in. If laying on your back gives you vivid dreams and lucidity, although I'm totally unsure as to how a sleeping position can raise your awareness to the point of being lucid, then by all means keep doing it! Maybe it has to do with the fact that, although you're physically tired, you're subconsciously more aware when you're on your back because it's normally an uncomfortable position for you.

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