I can lucid dream. Not always. And to varying degrees of success. The dream still has some control over me sometimes I and I can only do some things, like fly from danger, or decide to erase something that went wrong and do it again. Or just choose to wake up, that's quite odd.

But there are times where I have full control and it's god damn amazing. The ability to control space, time and narrative to my will and know there are no consequences, yet still feel like it's real, emotions, senses.

Though often the more I have control, the closer I get to waking up, so it can be short lived, plus it has led to sleep paralysis, so tread carefully. However a weird thing that sometimes happens is I know I'm about to wake up, so decide not to and just continue dream, it's very hard to achieve, but it's possible.

Strangely I don't have any techniques to lucid dream though, it's just an innate sense I developed as a child to combat frequent bad dreams.