I'd like to point out that most homes have a dedicated electrical dryer plug (NEMA 10-30) that is rated for at least 240v@30A, so your electrical panel has the capacity for at least that. Most homes, especially with A/C, could potentially draw more than the sum of all their electrical devices. In your case, there should not be a problem in installing at least an additional 240V 30A circuit, unless it's an issue with running the appropriate gauge wire to your location. You can opt to disconnect the dryer while charging – or maybe you have a gas dryer. Some homes have dryers located near the garage and you could run a cable directly from the dryer, if that applies to you. The Lucid Mobile charging cable Comes with NEMA 5-15 and NEMA 14-50. The NEMA 14-30 adapter plug is mentioned and available separately. You can get an adapter to go from NEMA 14-50 to 14-30, but the Lucid does not have a way to adjust the current down for charging.
Also, you mentioned 20A dedicated. You need to determine if that is 120V or 240V. 20A sounds more like 120V. The electrician maybe only installed a 120V breaker due to limited space in the panel. They make compact circuit breakers, so the panel could be reworked to free up some space. You could also install a smaller sub panel next to it and move some of the circuit over to it, which would increase the number of circuit breakers you can have.