There are improvements after every update, I think it's pretty much down to every user experience what is a big improvement what what is not, because we are all using our phones differently. For me, I was happy with updates most times. The only ones that upset me are the ones that cut off battery life or downgrade some software features, but those have been very rare from my point of view.
I noticed some zoom transitioning is better, but for me the only issues really come from optimising the 50 and 200MP modes better. The camera is excellent for me in 12MP mode for my usage. The video is the best I've seen on a Samsung, so smooth and detailed at 60 fps. It's really incredible how good these cameras have become.