P, S or A mode with FZ150

Hi..
I have tried S mode to take pictures of my dog.. I m not happy
with the motion blur..

I thought S mode would choose the the best shutter speed and freeze the slow movement.

I would like to know, what to use for all-round photos in good or/and in low light.
P, A or S...
I shoot RAW+JPEG and use standard, -1 in NR.

Even if the IQ is not perfect, I would like to "point & shot" as easy as possible, except iAuto

Thanks in advance.
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Ignorant photograph beginner