Need help creating a smooth custom camera

So I personally really dislike the default camera system on roblox. It’s super snappy and weird. I’d much rather prefer a nice smooth camera. I’ve been searching for sources on how to do this because I’m horrible with camera manipulation and math-y stuff. So I tried following this tutorial, which does make the camera smooth, but not in the way I like it. He also didn’t include object collisions so the camera just phases through all objects which is not good. I especially like the camera system in SCP:Roleplay. The way it’s smooth, and it clearly uses lerps (I think) but it does it so well. Like if you move the camera really fast, it does that thing where the camera moves closer to the player but it’s not an issue. The way it swings is really smooth. Anyways I’m done glazing the camera system. I tried looking up a way using lerps but for some reason it tilts in odd directions if I look the right way and when I’m rotating horizontally it like tilts and makes it so I can’t just rotate along the X axis. Not asking anyone to create a whole system, just asking for some guidance/documentation to help me get the effect that I want. Thanks.

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If you are able to, provide some code so I can take a look