I'll stay out of the argument about if it lags or not. That is because I BE SMARTS.
But it's a matter of running processes and threads. A CPU can only do X number of things at one time. A simplified way to look at it is that the four cores on your CPU can do four things at once — one task per core. If you try to do five things, the CPU has to switch between processes. This means that there is a measurable amount of time that a task isn't being worked on. When you have hundreds of tasks that all need to run, that measurable amount of time can be long enough that we can see it.
You mitigate this by assigning each task a priority. Higher priority tasks get to run before lower priority tasks. This is a big part of what people call optimization. Developers try to figure out what tasks need to run as often as possible to provide the best user experience. Samsung is getting really good at this, because they have to be good at it.
A phone like the Galaxy S7 has a bunch of features that need to be available for instant use. That means part of their software has to be running all of the time. Meanwhile, the threads that run the user interface are always running and need to be at the front of the queue. Add in apps that you've downloaded that need to stay alive and "listen" for things to happen, and you've got a long list of things that need to happen all at once. The CPU can't do this, so it switches back and forth as fast as it can (which is really, really fast) according to priority.
When your doing so many things that even high priority threads are waiting for their turn with the CPU, you notice it. And some people notice it more than others. There's no doubt that a phone like the Nexus is doing less "stuff" at once than a phone like the Galaxy S7 is, because the Galaxy S7 is capable of doing a lot more.
And this doesn't even take RAM and memory swapping into account.
I will say this — modern Galaxy S phones are the only phones out there that have the hardware to run all the things that are going on at once. If you tried to get as much "stuff" to happen on a Nexus 6P as a GS7 has going on, everyone would hate the experience. My time with the Galaxy S7 left me with the impression that Samsung is doing just fine when it comes to running a complicated User Interface and a long list of various features at the same time, and even if there are a few instances of stuttering, it's still an engineering marvel that they can do what they are doing on mobile hardware.
While you might be like me and not want all that "stuff" going on or not really like the interface, lag is no longer an issue with the Galaxy S7. It's one of the most impressive and capable computers available when it comes to a performance/feature ratio.