Sensors in action cameras are usually bigger and better compared to the RPi Cam sensor, which directly results in better image. Hard to do anything about that, but there are a couple of thing that could be improved:
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Bigger lens. There are mods to RPi Cam allowing it to use M12 or even M42 lenses. Check here and here. Some camera clones are sold with bigger lenses pre-installed.
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Another type of cable. There are smaller and more flexible cables like the one the Spy Camera uses.
colors can completely change if you vary yaw of several degrees!
That’s probably because of the auto white balance. You can set the mode manually, check the doc here: