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So I’ve been requesting to be able to have the ability to go in and out Realms ... and I have been doing a lot of lucid dreaming ... so I need a clear perspective on this ... I’ve also been desiring and working on contacting my. Angel Raphael... I’ve also traveled twice in my lifetime so I want to increase in my abilities one by one yet need a clear definition mucus dreaming
My first instinct on answering this question is that lucid dreaming happens while asleep, and visions happen while awake. Even seeing a dream memory vividly while I'm awake feels like a vision to me.
Also there's a level of control one has in lucid dreaming one does not have in regular dreaming.
Hope that helps somehow. Just my ideas!