How do you Go from having half lucids to achieve a fully blown and aware lucid dream?

I've had many Low level lucid dreams and dome with slightly more awareness. In the dream my dream self is making the decisions and not me so I'm not fully lucid. How could I achieve the filly lucid experience or convert these low experiences into higher ones in the future. I usually perform wbtb And dream walker. I also go to bed at 9:00 and wake at 7:00. also after each of my rc’s I will act out what I would of done to ground myself. how can I get the true fully lucid experiance Where instead of my dream self decision making it’s my actual self?