Welcome to the community! Great question.
My background includes the following: Dharma work in the 1960s, familiarity with the popular psychedelics of the day, living in various Asian countries (Thailand, Nepal, Japan,Singapore, India), Vipassana Meditation instruction (Goeinka), Insight Meditation (IMS), Mindfulness-Based Stress Reduction (MBSR) and training in western mysticism (Rudolph Steiner) as well as a few other spiritually seeking activities. However, I was never able to tie all of this together until I started to study Dream Yoga.
I don’t separate lucid dreaming from Dream Yoga and the Tibetan practices that are embedded in it as well as the traditions of which it is a part. I started looking at DY a couple of years ago with Andrew’s Tricycle DY course in hopes of alleviating years of chronic insomnia. I thought there might be something I could learn that could help me get to sleep and stay asleep more consistently—the way it used to be years ago. I really didn’t think about any spiritual implications of the practices at all. However, after two retreats with with Andrew Holececk and one with Charlie Morley I am beginning to realize how important it is to use dreams to help me to better learn about and experience reality and to change myself to be a better sentient being.
I am am not a very accomplished lucid dreamer, more at a beginner level, but I use lucid dreams—any dreams—to help me work with my fears, understand my daytime thinking and help with my preparations for the Bardo(s). I average about one LD a month, though the quality of any one may vary widely from previous ones. These days, lucid days are a gift as well. In fact, I have been training for this CV-19 Bardo for most of my life, and Dream Yoga was the final piece in this life-long puzzle for me, putting everything previous into perfect perspective.
I have also come to appreciate the wider perspective, where Dream Yoga is but one of the Six Yogas of Naropa. Most people I know who are studying Tibetan Dharma are not very interested in Dream Yoga or Lucid Dreaming—and I know a scores of practitioners. In fact, I’ve been married to one for forty years, and when I first started talking about it she refused to believe it was a “thing.” Fortunately, many authoritative sources assured her that it is legitimate, just not very much out in the open until quite recently. So, she encourages the practices for me, but like most others, go for the more traditional devotions practiced from childhood.
I’ve changed many things due to my Dream Yoga/Lucid Dreaming efforts, particularly in my thinking. During the day there are always ways of thinking such as “I should react this way,” or “gee, what a terrible thought I have, glad no one can read my mind.” In my dreams, when confronted with various situations, my innermost thoughts are there, unfiltered by social conditioning, and when I truly feel compassion or the desire to help, it’s because I legitimately am compassionate and helpful. I know I can fool myself in the waking state, but in the nocturnal state, all is laid bare.
I also think I’m a better more complete person since I started DY. I hope this helps.