"I also have been in situations where I wanted to wake up-and was briefly "stuck" in sleep paralysis."  That's fairly common, although it's never happened to me.  It's perfectly harmless, but people report that it can be quite unnerving.

"Do you try, or are you ever able to fly in a lucid dreaming state?"  Yes.  Flying/travel in general is a common activity of lucid dreamers.

"are you ever able to travel somewhere or to someone, that you imagine (or know) to be in real time / space, relative to your sleeping body?"  Yes.