I've had limited experience (n~20) but no... that's not how it worked for me, interested in others' experiences.

"flying" was limited. I didn't have full control and sometimes felt dynamically pinned to the top of a 2D scrolling video game as if there were driver incompatabilities.

drifting off to sleep in a session, it was very disturbing- i felt like i was being dragged by my ankle across the bed before lucid dreaming began, "here it comes..."

Sometimes there would be ominious sounds/visuals that I could not influence that scared me so much I was glad I could wake up because it felt like a nightmare was approaching.

Two big tells I'm lucid dreaming: I'm with a group of people who can't answer a very obvious question ("why is the sky blue?") or, I look at my hand - as if it were LLM it absolutely does not render well... like a tree trunk with a bunch of branches.