I'm a lucid dreamer, not all the time, but sometimes. Most of my dreams are first person, there are a few that aren't but these aren't lucid.
I also have PTSD dreams at least once a week (every night when I'm not feeling well), but those aren't lucid sadly, I wish they were
All are quite vivid anyway. I rarely have nice dreams but a few times where I had one, it was so vivid that I thought "I'm not dreaming, OMG this is wonderful !"... Of course, disappointment followed.
I use my five senses in my dreams, to give a good example I like cooking and baking and I imagined a few recipes in dream, where I could taste them, and what's cool is that they do taste the same in real.
Sometimes I also do math, physics or write in dreams. It seems like I get my best ideas this way.