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Having darshan depends on your Kamaee. As your Kamaee increases you will start to have spiritual experiences, remember your past lives, have visions of the future, have darshan of Shaheed Singhs, see your own real self and eventually of Vaheguru. You are lucky indeed to have the ability to lucid dream. Since you are in control of your dream what ever you want is creation of your own imagination. You should not confuse imagination of God with Darshan of God. But one big benefit of lucid dreaming is that you can do all the paath you like while in your dream and increase your Kamaee. We waste so many hours everyday in sleeping, imagine if you can have control over your dream you can utilize your time to do all the paath you want, those hours would be well spent. Advanced Tibetan meditation practitioners do this, they call it dream yoga.