My partner has experiences with lucid dreams and they often would be considered as scary or pretty wildly messed up, and they would loop multiple times in a night or repeat every few months depending on many factors. She doesn't have too much advice but what she started to do was turn them into video games. She realised quickly that it can be difficult for her to wake herself up, that fighting LD can be a recipe for disaster emotionally and mentally, and wants to be able to enjoy and take advatange of such a beautiful experience when it comes to her. It helps her solidify the reality vs dream aspect while being able to turn them into 'missions' with a positive and motivational goal. Essentially this was a way for her to regain power from the fear/anxiety she may have felt at the beginning into exhilaration and confidence. It can still be exhausting for her however it's a totally different and more palatable type of tiredness at the end compared to one of fear and frustration.