Feeling sensations in a dream is normal?

It's not about just any sensation

some of the time, I dream of certain things with certain people ( who? I don't know or with someone. I won't do anything like that in real life) like being intimate or kissing them. but yeah, not too much far.

anyways, I did dream of kissing someone in my dreams, I know who that person is (from Instagram) and it felt so real, like I realized I was dreaming as I was about to kiss him, but I did it anyway, I just wanted to make sure my dream doesn't fade away (cuz that's what usually happens when I realize I'm dreaming and I wake up) but yeah I was almost on the realization path when I was kissing him and it was so real, like I could feel it throughout my body, it felt like it was a real life thing and not just a dream. so what do you think? was it a lucid dream or just a normal dream?

because it's not like I was controlling the dream or something and I knew it was a dream because the surroundings felt too much like a dream and not you know something like a reality, which is usually the case in lucid dreaming.

so is it normal to feel sensations like this of intimacy and all just how you would feel in real life? was this a normal dream or a lucid dream?

also, how do I stop getting inappropriate dreams with few people who I'm not comfortable with? like even in dreams? I don't realize it but when I wake up I realize how uncomfortable and inappropriate it was! (it's all right if it's someone who is as my age and a stranger or like a friend, but not more than that)