> I find it difficult to write in a lucid way.
So does everyone. It's like with "clean code" - no-one can write clean code. You write dirty code and keep editing it until it's clean. It's easy to see someone else's 20th draft and think you can't write as good as them. Neither can they.
It's like everything, you're bad when you start doing it, and you get better at it as you do more of it.
> Even after rereading and editing my docs multiple times I am not happy with the outcome.
How many times is "multiple times"? Doesn't sound like too many. A few dozen times wouldn't be unusual among writers. i.e. Editing every day for a month.
> In fact I fall into dilemma on which of my edited drafts should I choose as final version.
So just have one version. If a change doesn't make a sentence better, don't make that change. Sure, sometimes you can't decide which of 2 versions of (say) a sentence is better. So choose the simpler, the one with less words, the less show-offy one, the more direct. Also, put it aside for a few days or a week or two and read again. Choices like that will be obvious again after you get some time-distance.