There are herbs that can encourage lucid dreaming. I've experimented a bit with hyssop flower, also known as ezov, but it didn't change my experience of dreaming much, except I woke up feeling like I had been sorting things through and having insights in my sleep. I didn't recall what I had figured out, but I had the feeling of figuring things out. But I could lucid dream before I started taking it, though I don't do it often, and I remember my dreams often and write them down. Keeping pen and paper by the bed and writing down dreams can be a way to start if you want to work up to lucid dreaming.

I don't usually feel pain while dreaming, but I sometimes wake up from too much pain, so that is not always the case.

Many years ago, I did some meditation techniques to shut off pain when I was severely ill, and it worked for a little while, the technique was successful and I didn't feel pain. But then I moved around and lived my life as if the pain weren't there and I ended up hurting myself, and being in a worse condition than before. The pain had been stopping me from doing things that my body couldn't handle. So, I've been reluctant to mess with the pain signalling system since then.

I guess I'm telling you these stories because neither lucid dreaming, nor shutting off feeling the pain were answers for me. But that's me. Different people have different experiences and different bodies, which makes exploring these options not something that one can outsource, and anecdotes and stories are not reliable guides.