Pi 4 will definitely be much faster if the storage can keep up (the biggest bottleneck is usually not the SD card unless it's garbage, but the speed at which it can do the whole fake USB translation to actual storage thing - though even then the latencies add up on both ends and limit throughput, so better cards still help). I tested an orange Pi zero as being a tiny bit faster than a pi zero w, and a pi 4 was a lot faster.
If the card worked then became too slow, perhaps try using a tool that can perform TRIM operation to erase the entire card, then reinstall everything again (or if you know your way around Linux, get into the Pi and remove the USB mounted images, trim the filesystem(s), and then recreate the USB mounted images).
When becoming full, cards tend to get slow, and it's possible the way the teslacam Pi software is set up doesn't provide a way to automatically trim unused space even after normal deletion of videos (so eventually the card things it's 100% used even though a bunch of it is nothing). Especially with using FAT for the videos, since deleting files doesn't even zero them out where they could be detected as empty space...