Scenario:
- Open the list which has a lookup field.
- Click on 'Customize forms' command under 'Power Apps' in the command bar at the top.
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You can customize the SharePoint list which has lookup columns in it.
Here are the examples of others using lookup columns while customizing list forms:
Update:
If you are not able to customize the list forms using "Customize forms" option in command bar, follow below workaround: