Hello @soluci, welcome to ld4all!
That’s very impressive progress already. Like TheAstralDreamer said, you need to get a more firm foothold in the dream. This will both stabilize the dream and increase your lucidity. Now as previously pointed out, you can find a lot of resources on which techniques you can do and you may have to try a handful to find one that works really well for you.
But there is a problem. It’s easy to apply these techniques once you have good control over your dream. But from what you describe, your dreams are rather half lucid dreams, or low level lucid dreams. It’s often hard to do anything on purpose in these dreams. So in order to use a stabilizing technique, I suggest you prepare beforehand both your intent and your attitude. Basically it’s about conditioning your mind.
Before you go to bed and preferably every now and then during the day, tell yourself that once you attain lucidity, you will perform technique xyz and also focus on the result (increased clarity and control). If you are using MILD, I guess you could incorporate this also directly into your induction session.
And there is something else. I don’t have particular personal experience or data on this, but I heard that there is a strong connection between your general awareness in waking life and the quality of detail in your dreams. Since you describe your dreams as blurry, this might be interesting for you. Especially so if you find your normal dreams also don’t have a lot of detail, seem rather foggy and kind of have tunnel vision.
I tink this definitely applies to me, so I want to work on this myself. How to do this? Well, it’s difficult. And it requires work. Basically you need to increase your waking awareness. There are a lot of resources on this on the internet because that’s also a recent trend among non dreamers for personality development.
To get you started, I relay LaBerge’s advice: every now and then throughout the day, indulge in an awareness session for a few minutes. Take in your surrounding. See with your own eyes and realize what you are seeing. Try to not let the cortex of your brain do too much abstraction already. Don’t see a traffic jam, see individual cars, which color they have, what shape they are, what patterns their backlight is, what are the tires like, what is the road like, what is the surrounding and the sky like. Try to see as much detail as possible (there is that word again).
Then apply the same to hearing, smelling, tasting (a little optional), sensations at the outside of your body, sensations inside your body, feelings you have, thoughts you have, become aware even of your own awareness and consciousness. If you are religious, it’s also a good opportunity to involve your spiritual situation. Personally I also like to add a reality check or two once I’m at it.
This will probably take a long time to have any effect, but it depends on your personality I guess. During the awareness focus you will realize however that you are able to perceive so much more than in your normal daily routine. The ultimate goal is to make this your standard and to get rid of most of your everyday auto piloting. This is called lucid living I think.
I am not sure, but I think there is also somewhat of a downside to this. I tink the daydreaming part in me is important for creativity and solving problems related to that. I’m a software engineer and I tink it helps me digest abstract problems that are hard to tackle in a full outside-world-awareness-mode. So I’m not 100% confident it is always an improvement to your current life. But I often find the universe is quite balanced in such regards and you merely have to set priorities on what you want instead of trying to find the optimal way of achieving bliss and happiness in your life.
Ok, I trailed off quite a bit. Good luck with your quest for a full power lucid dream 
,i wouldn’t say that i know 
