Ooh I remember having that problem too. The thing is that for pixel art you'll need to be careful about how much you move objects so they'll align with the limited pixel grid properly by each frame update. So if you move the camera by say, 0.6 pixels per frame update you'll get movement updates like this:
0.6 - 1.2 - 1.8 - 2.4 - 3.0 - 3.6 - 4.2 etc
which converts to these integers:
1.0 - 1.0 - 2.0 - 2.0 - 3.0 - 4.0 - 4.0 etc
In this scenario the object will move one pixel every second frame, except when it's moved 3 pixels the rounded float position will make it move right up to 4 on the next frame, causing a jerk. And that's assuming the engine keeps a steady 60 fps and the camera scrolls at an even speed. Lerp doesn't account for that kind of thing and neither does the scroll-to behaviour.
The easiest thing to do is just turn pixel rounding off. It's possible to program camera and object movement that moves perfectly along your pixel grid but it could be a hassle for the camera at least. You'd be limited on what speeds you could use too.