FYI once you take delivery all negotiating is over. They have been paid for the car. You can't convert or go back for the latest deal. If they lower the price tomorrow and you bought last week and have taken delivery its too late. The finance agreement is beteween you and the bank. Lucid might have subsidied the financing but has been paid by the finance institution and you have signed a contract for whatever term and interest rate you agreed to with the bank.
The only way to do a lease would be to purchase a differnt car and sell your current car on the open market. Based on what you said you have left to pay in years(6) you are more than likely very underwater vs the payoff.