I LOVE having these dreams. They've changed my life and a lot of my beliefs about consciousness and the soul. It still blows my mind that lucid dreaming is even possible. Lucid dreaming is still restful sleep, you just have more access to your prefrontal cortex (I believe) than when you're sleeping normally. If anything, I find those dreams more refreshing than normal ones. I'll wake up from them thrilled with the experience I've just had.
I would be curious to learn a little more about my brain and what's happening when I lucid dream, but trutfhfully, I think it all comes down to two things for me: dream journaling and meditation. For years I'd been curious about lucid dreaming, but I'd almost begun to believe it was impossible before they suddenly began for me a couple of years ago. I don't think without those two practices they would have ever begun for me truthfully.
Thanks so much for the kind words, Mary!!