Hmm, do most people have blurry dreams? Every single one of my dreams are clear. Also, I have totally insane dreams when I sleep for more than 12 hours, so I try to sleep as long as possible for the most entertaining dreams. I've only lucid dreamed a couple of times, and have had times where I could feel my bed while dreaming.
Some of my dreams are extremely mindwrecking, too. A while back I had this dream that involved this weird fight, standing on a star destroyer fighting some famous person in the sky somewhere on earth. I failed pretty badly, and fell off the star destroyer, beginning to plummet to my death all while feeling very realistic in such a way that I seriously felt I was about to die and had my life flash before my eyes. I realized that I had a parachute and pulled it, but alas, it did not work.
A couple seconds later I was caught in the tractor beam of a second star destroyer, and brought up to a small room with some kind of bureaucrat in charge of prisoner intake. Some stuff happened, spanning a few hours, and eventually he fell asleep. Taking this as an opportunity, I soon found myself strangling this guy to death in vivid detail. The whole strangling thing was extremely real and I had absolutely no idea that I was dreaming, which was even disturbing during the dream. Next, I stripped the guy of his clothes, hid his body, and left the room. After a while and some extremely nerve wracking encounters with guards and whatnot, I arrived at the prison/brig. Thus I proceeded to lead a rebellion as I freed all the slaves, culminating in the commandeering of the ship and getting off the ship, returning safely to my home.
I woke up totally freaked out at the whole strangling the guy to death thing, and that's definitely my most memorable dream ever. I've never achieved anything of value in lucid dreams, as my non-lucid dreams tend to be epic movies like this one.