Was this a lucid dream or did I actually shift? (Need opinions from people who shift through dreams)

Hey everyone,

Last night something happened that felt way beyond a normal dream , and I’m trying to figure out if anyone else who shifts through lucid dreams has gone through this too.

In the dream I was at some random house with my family. Everything felt normal until I suddenly realized I could control what I was doing , like I could look around wherever I wanted, walk, interact, and everything responded naturally.

When I hugged my mom, I could actually feel it, but the sensations lagged a second or two behind the action, almost like reality was buffering or something.

At first the whole scene was kind of glitchy and delayed, and then I started grounding myself by touching things and interacting with everyone. I pulled my cousin’s hair jokingly, hugged my little cousin and could feel his tiny body, play-punched another cousin and felt the impact.

Gradually the lag/glitches disappeared and everything became completely solid. That’s when I realized , I wasn’t just dreaming, It felt like I was there. Physically there.

I reached down to touch the floor of the house & completely freaked out. It felt so real that it was kind of terrifying. I immediately wanted to go back thinking I would be stuck there.

I didn’t know how to get back, so I used my safe word. I closed my eyes, opened them, and found myself laying down in a completely different room with wooden walls, still not my real room. I closed my eyes again, and intended that I wanted to be back at my baseline CR , and finally opened them to find myself back in my bed. However the background was slowly fading in to show me my current room.

For a few seconds, it felt like I had fainted and then slammed back into my body.

What threw me off was how tangible everything was , the textures, the weight of things.

Once it stopped glitching, I knew for sure it wasn’t just a dream simulation. If I had stayed calm and not used my safe word, could I have stayed there longer ,maybe even “lived” there for a bit? Eating, sleeping, doing normal things? Has anyone else experienced a shift like this through a lucid dream before? How did you know if it was a dream or an actual shift?