Many times I’m having a completely unrelated dream session, then suddenly I sense that I’m about to wake up, so I just quickly manifest sex to the awkward surprise and staring of the dream cast present at the scene. But this is a paradox because it makes the dream end even faster because everything is rushed and sloppy and the manifested faces aren’t even as detailed as the natural dream.
The weird thing is that I’m aware of my dream state yet the thought of “let’s finish the adventure instead of having sex” doesn’t enter my mind.
I have noticed that any lucid dream I've ever had just sort of phases into being awake with no real conclusion to the events of the dream. Lucidity I think only occurs on the edge of wakefulness so waking up is usually the conclusion before whatever "story" that was occurring can reach anything satisfactory.
With that said I only very rarely have lucid dreams.