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Its very true that our physical eyes do not perceive our "true reality" all my out of body experiences have involved the same thing, a blacker sky (really its just more clearer) and the tree's and colours of our world seem so much more real and alive. If i can give an example its as if everything is so perfect and sharp. This is just our etheric/astral bodies in their perfection.

perhaps the explanation for your "lack of breathing" is how your body is so used to our physical world today, because you were concious your so used to the fact that when your under water you cant breathe. This is perhaps why you had these feelings, this very thing has helped me induce lucid dreams before as ive gone underwater and held my breath and then just had to inhale in only to find i could breathe therefore i knew i was dreaming.

Yes it is possible to Astral Travel with someone else, aswell as go into someone elses' dream whilst astral travelling.

I suppose it is possible for you and this person to astral travel together, but remeber you leave your body every night. When out of your body your mind has the ability to create anything that you want, so there is also room for the explanation that you created this scenario of you and this loved one, and through your creation in your astral body it became real hence the real feelings you felt.

So leave room for the explanation that you really just created it.

converting your lucid dream to a fully concious astral travel is really quite simple, as long as you can flow into a lucid dream. If you ever find yourself fully lucid in a dream, your thoughts create things constantly. In many cases when i have been lucid dreaming and wished to project, i just stop where i am in my dream and literally say "astral project" to myself and you will. you will feel a rushing feeling and may find yourself back on your bed, just as your coming out of your body.