Are anyone else’s lucid dreams disappointingly brief?

I don’t seek out lucid dreams, but have a very weird relationship with sleep and strange things like sleep paralysis happen relatively frequently. There have been a handful of times where I ‘wake up’ and notice all of the things that don’t match reality and it’s actually very awe inspiring and exciting to explore with clarity. The problem is as soon as I go outside or try flying, I always ‘wake up’ into a non lucid dream or wake up IRL before I get to explore much outside my house. Does anyone else experience this and have any methods to make it last longer?