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For me it's a gradient, depending on how tired I am. I can go from fairly vivid mental image to full on seeing things with my eyes closed. It's that window when falling asleep that is the most impactful visually and very close to lucid dreaming.

So I would say yes, it is like you are seeing things but in your "minds eye".

If you can "hear" music in your head when thinking about a song it feels about the same as "seeing" without seeing. It's imagery but from a different place.