Are There Two Types Of Lucid Dreams Because One Of Them Suc

I've recently made good attempts at WILD's and noticed something different in my lucid dreams which is worrisome: So far I've had two types of lucid dreams: the type where you are dreaming, and out of the blue figuring out that you are dreaming and having your senses enhanced 1000x fold. This type of LD is what I aim for, as it is easy to stabilize and can last long. The second type of dream I'm having is usually much more common and happens when I WILD (or try one of its variations): I am sleeping, focusing on myself as I am falling asleep, and then I notice some irregularity (an infrequency in sound, touch, sight, whatever...) that makes me aware that sleep paralysis sets in. Once there, I hold my nose and blow to RC, and then I "get up" in my half-dream state. Why half-dream? Because every time I try lucid dreaming this way, it's near impossible to sustain this dream... It's very groggy & foggy, and sometimes I have this "glitch" where my left eye shuts down or goes crosseyed as if I'm a chameleon. To add to this everything is dark as if it's night (though it makes sense, it IS nighttime...). Basically this type of lucid dream is worthless. Sure it is fascinating to an extent but you can't do ANYTHING. If I try to stabilize it by spinning, the grogginess becomes WORSE if I don't even wake myself up! Doesn't matter how I try: fast, slow, etc... nothing. Trying to hold on to something only insures that I will be able to resurge in the dream if I REALLY try, but it doesn't improve the quality of it. Help? Anybody have any advice? Note that when I have a DILD (extremely rare, I only had 2-4 out of maybe 20+ lucid dreams.) I can stabilize it verrrrry easily by just examining something or touching an object. Everything then becomes 4K HD and I can carry on. This isn't the case with the false awakening type lucid dreams.