My guess is that the bitrate is too low, and the scene could do with some supplemental lighting.
If you do a screenshot of the video settings there will be more constructive comments.
Of course I don't agree with that table very closely in my own configuration. I tend to run around 6 Mbps as alastair has suggested for 2MP cameras just because I can afford the storage and it offers pristine video quality.
But in terms of remote viewing over 4G etc, does the bitrate/max bitrate have to be considered or is it the bitrate or res set for the sub-stream used for the remote side of things and the main stream is the recording or I’m I getting mixed up?