There's a progression I've experienced which I don't think is something a lucid dream is characterized by. Got a hand out, fell out and quickly went back because it scared me. Got out and couldn't see and gave up. Got out and out the front door and that freaked me out. Then finally a half mile down the road.
My next journey I'm going to go farther in my area to places that I've never been and see what they compare to on a fully conscious visit.
One thing that shocked me though was going through my front door. At the time in the OBE I thought this isn't the same front door, particularly the stained glass. Then I went and looked at it in real life after and I realized my OBE recollection was more accurate than my previous knowledge or memory of it.