Does [39:42] in Qur'an contradict lucid dreaming?

Does the following verse has anything to do with lucid dreams? >“It is Allah Who takes away the souls at the time of their death, and those that die not during their sleep. He keeps those (souls) for which He has ordained death and sends the rest for a term appointed. Verily, in this are signs for a people who think deeply.” > >[az-Zumar 39:42](https://legacy.quran.com/39/42) I'm so confused as to what the above verses mean. Does it mean that we don't have a will to induce lucid dreams? Are lucid dreams even real or not? Because Allah only Has the power to give us our souls back so we can wake up from sleep. I want some answers please!