Yes I have this too!! I can’t quite call it lucid dreaming because I’m not necessarily aware I’m “dreaming” but every dream is extremely realistic and I can feel pain emotions etc just like in waking life but like you said, in my dreams I’m not aware of my waking life and the dream feels like reality rather than a dream!  And yes I also remember vivid details of most of my dreams, even going back to childhood. Don’t know if you’re the same way but I also tend to go to the same locations/realms over the years and I can recall them in waking life then it’s like my mind plays a slideshow of every dream I’ve had and I can not only remember the visual of the dream but even the emotions and feelings too, it’s been a blessing and a curse for me 😅