Not exactly fully lucid, but I often times realize I am dreaming due to certain things. Ever since I've grown a beard I've seen myself in a mirror without a beard, and thought "oh no, why did I do that". Sometimes realizing this can't be real and knowing it's a dream. But shortly after it's already off my mind again. I'm not sure I want to lose the randomness of dreams, but you can definitely learn to have lucid dreams. Just look it up.