The reason for the camera acting up is because of your microSD. As with all storage devices, i.e. Mechanical Hard Drives, SSD, microSD, etc., they have what is called a read/write speeds. The faster their R/W speeds, the better the performance of that storage device.
Basically, when taking a picture, the Lumia 950's 20MP would absolutely result in a large sized image file, which is then processed and stored/saved into a storage space in your phone, either the Phone's in-built storage or external storage (microSD). Which means that, if you take A LOT of pictures, those large-sized pictures would have to be processed and stored rapidly into either one of the storage.
Thus, if you choose to store your pictures into your microSD, which I assume to have a very slow R/W speed, then you can expect the camera to lag when taking a lot of pictures. This might also result in the camera crashing due to heavy processing bottle-necked by the very slow R/W speed of your SD card.
To fix, simply set your phone to automatically store new photos into the phone's memory, instead of your SD card. If you really want to use an SD card, I suggest getting a better performing card. Windows Central did a guide as to which SD card is best for the Lumia 950.