I have a Panasonic Lumix DC-TZ95 (ZS80) camera on firmware v1.1.  For indoor low light shooting (without a flash) the pics are bad, poor focus, poor colour (jpg 5184x2920 pixels). The outdoor pics are fine. I use the iA+ mode. 

My mobile phone takes good images of the same indoor scenes without flash though with fewer pixels. I'm a noob at photography. Any easy suggestions?