I didn't see the joke until you pointed it out.
For me, when it comes to lucid dream sex, don't worry about clothes or foreplay. Just jump right in. Everything may be visually confusing with an arm here, and a leg there, sometimes several of them, body parts everywhere, things morphing into other objects, but the feeling of arousal is present and is enough to lead to an orgasm. They can happen very quickly in a dream, speaking from a man's side. I usually mess around a bit, getting aroused, and then decide if I want to go all the way, or end it abruptly and move on.
However, maybe that's my problem and why the dream goes chaotic. Plus, it's very common for girls in my dreams to become lifeless dolls, and I bet it's pretty much my dream becoming how I treat them. If you are going to treat the other person like a sexual play thing, they end up becoming just that: A toy.
As for "changing teams" though, I did try to fellate a guy in a lucid dream once just for the heck of it. I like to try and shock myself. It ended up feeling like I was doing it to myself though which is pretty much every guy's fantasy, and why we are jealous that dogs can lick themselves down there. You know if we could, we would never leave the house!
Anyway, happy experimenting, and you never know what you'll learn.