I have them almost every night (I trained for it when I was 19 and it stuck); when I don't have at least one, I feel far fitter and slept-out than if I did not have one. So I would say it helps sleep. Devices like the Apple Watch or other sleep measuring devices do note that 50-60% of my nights are spent in deep sleep, which, apparently, is a lot.
so, what you're saying is that from your experience lucid dreaming does not impact sleep quality negatively - correct? if I'm understanding you correctly you'd even say it impacts sleep quality positively (?)
