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vr will never be better than lucid for the simple reason of limitation. You will be limited to the program's coding. In a dream you can do just about anything!

Programing in the not too distant future will be able to be created by artificial intelligence. This will allow people to be able to experience anything they can imagine just by willing it to happen in VR. Artificial intelligence will then create it for you in VR. Eventully you will be able to do and feel anything in VR and not only that but you would be able to do it anytime and even anywhere not just at night time. You will also be able to do it with anyone in the world unlike in a dream.

You are getting ahead of yourself there buddy. My field of study in the uni was AI and we are still not as close as you think. Also creating vr games to stimulate all your senses is also a distant future :P

The code that will make up VR games or just future games in general will be malleable unlike code for games today. Like I said in the other comment AI will make this possible.

I have VR, but it still doesn't live up to a good lucid dream