ive had more luck trying to sketch things from lucid dreams than nonlucid dreams because my lucid dreams are more realistic and more visual. a lot of my nonlucid dreams arent visual at all so i have to make up what it would have looked like.
i think it depends on your art goals. illustration (as a subset of art) is about communicating to others in a visual language they understand, rather than trying to accurately represent something that only exists in your head and only make sense to you. so changing things for more effective illustration makes sense. it is also a perfectly good art goal to seek a way to visually express the accurate weirdness of your own dream perception.
a lot of techniques exist to draw accurate realistic objects but it would be interesting to collect techniques that help with dream drawing. maybe cubist and surrealist techniques could help? maybe you have to invent your own?