It’s easier to become lucid at the end of the dream, because our brains logical center powers up as we are about to wake up. Therefore, that active logic centre recognizes the illogical dream state and makes you lucid. I’ve myself experienced such dreams, which last no more than 5 seconds. I don’t even have much time to do some dream-prolonging and stabilizing techniques.
As I see you have some problems with dream control. Being lucid doesn’t mean that you will be able to control the dream. Dream control is a different thing and needs to be mastered. To gain more effective and easier dream control abilities, I would suggest reading this guide: https://community.ld4all.com/t/dream-control-training-course/31812
It is long, but it’s worth to read it.
Hope this helps.