There is something here that nobody has touched upon yet. Often, your subconcious will override what you are attempting to do in your lucid dream. I've run into it many times. Try to summon Person A and Person B appears. Succeed at summoning Person A and they morph on you into someone totally different.

The best analogy I have heard, and one I really like, is that the subconcious it like a gyroscope. It is sitting there spinning on its own. When you apply force to move it in the direction you want, you find that it moves in a different direction due to the combination of vectors.

In other words, you subconcious is pursuing one path, when you make an attempt to control something, the result you get is a combination of your concious will and your subconcious.

It can be quite frustrating if you are trying to fight it, however, it can be enlightening to observe where your subconcious is trying to take you. I remember years ago, I found a failsafe method to fall asleep. I would lie in bed at night and daydream about a certain scenario I wanted to try with someone. My subconcious would not allow me to go through with it, I would fall asleep within seconds of beginning to think about it.

Congrats on your new sense of peace, we all have issues we would love to bring closure to.