Yes, it does sound like you're finding a deeper common purpose and it's beautiful! Like Esteban, I remember my dreams in great detail and this capacity has increased in the past few years, but even in my childhood I have strongly vivid dreams which I can still recall. I've worked intensely with them since they're part of the Great Narrative, my main subject of study.
I've yet to meet someone on the astral plain at will or by agreement. All encounters have taken place without planning. Still, one thing that I do to both explore previous dreams and strengthen my astral presence is visualization. You can use it for anything, from "going back" to past dreams (perhaps that's also how Esteban does) to calling a specific individual or group to have a heart-to-heart, to channeling deities, etc.
Your journey is inspiring! I don't have any children, but if I did, this is how I'd raise them, with complete freedom to explore these topics!