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I experienced this for years, but it never seemed to actually affect "rest". I'd have multiple intense dreams per night, waking up often between them. But not feeling sleep deprived at all, if anything the opposite. However i was also in my early 20s so maybe it would be harder now.

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I used to lucid dream all the time as a kid, it just happened naturally, and never left me tired. It mostly stopped and in my 20s I tried some exercises to induce lucid dreams. My experience was like a restless night of sleep after studying late for a big test the next morning. Because, there was something I was supposed to be remembering, instead of just sleeping soundly.

So I think lucid dreaming is not necessarily a problem in itself but forcefully training yourself to do it can be rough going.

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