Here's a modification that includes the rotation fix. I apologize, the events ended up looking a bit different since I tried simplifying a lot while I was trying to pinpoint what was causing the bug.
* All mouse input is on the ui layer now.
* As a side effect the drag move formula is a bit uglier since it has to rotate the mouse position delta by the rotation. Before you used mouse position from the 3d layer but that was giving NaN's when tilt was 0. Reverting back to use mouse position from the 3d layer has it's merits though since the point on the ground where you started dragging would match where you dragged to.
* It now only moves the target object directly and the cam object eases toward the target. Also it eases position, zoom, tilt and angle. That was the main change that enabled the fix.
* The lerping is now framerate independent. It was a small change basically using exp(-100*dt) instead of 0.2*60*dt.
* The 3d camera position is calculated in one go with spherical coordinates which incorporates zoom, angle and tilt. It should end up the same as what you had.
dropbox.com/scl/fi/ljuplixdxjtghe23ijzdo/2d3dcam_Test.c3p