I learned to lucid dream as a teenager - it was incredible for resolving internal conflict and doing emotional work (everything in a dream is a reflection of the mind). Since then I’ve used it to solve both rock climbing problems and software problems. The basis of lucid dreaming is dream recall and a healthy skepticism about the permanence or validity of “reality.” It sounds like a difficult skill to develop but anyone who tries makes surprisingly quick progress, with quick gains in dream recall.

For resources I recommend Andrew Holocek’s books (amazing, drawing upon Tibetan Buddhist techniques) plus the app I made for lucid dreaming shapedream.co (I’ll happily give anyone free access to its tools and guides - just write me).