I have. My uncle was a good man who loved the sea, sailing, and the color blue. Life events and his career made him quite a bitter/angry/frustrated person by the end of his life, but he nevertheless had a core of being loving and fun.

He passed away very suddenly, and it was quite a shock for most of the family. To be very honest, I wasn't shocked at all, I was actually relieved for him because I had known how tired he was of his life. He was very much not religious and even less a spiritual man.

I became lucid one night while on a sailing boat in the middle of the ocean, like I just found myself there, and there he was. My uncle looked so joyful just running around the boat doing sailing stuff. He came to me and told me how incredible his "life" was now that he was unburdened by his "earth life." I told him how happy I am to see him here doing what he loves most.
I had never seen him exude so much joy ever. We had a little conversation, which was pleasant. It felt like a little reunion, and he wanted me and the rest of the family to know he was doing amazing and not to worry about him too much.

The few people I told from my family were those who I thought would be helped by this message, which were few.

I can still recall this last interaction with him, and it still brings me comfort and joy. Whether it was "actually him" or not, I do not care. It doesn't matter.

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I have, you’ve just got to acknowledge it for what it is: it’s not therapy, it’s fantasy. Put weight and significance into it and that kind of thing is damaging and misguiding, but it’s also an innocent little pleasure just to be able to see someone’s face again.

A lot of people say Lucid dreaming can be a gateway to other realms , you just need to know how to facilitate the opening of the gateway