This might sound weird but what works for me is once I realize I’m lucid and the dream starts falling apart as you describe it - I quickly start spinning my (dream) body counter clockwise. In most cases this stops the awakening and I can continue lucid dreaming.
Waking up in the ”time loop” is also recurring to me, but a reality check often gets me back on track even when I’m pretty certain that I’m awake (I’m not). I usually just look at my hand. If my fingers look spooky, I’m still sleeping and can induce lucid again.
https://github.com/folke/flash.nvim