Help with cycles baking for animation

So, recently I’ve been getting more and more into animation within blender, rather than just creating images. But i soon came across a problem with this, as when using a displacement map, the increased poly count due to subdividing causes blender to run slowly and even crash at times. I know that baking the displacement would work in this case, however I have two issues with this. 1. I have yet to learn how to bake displacement in cycles. 2. Is there a way to bake this where different lighting would affect it (such as shadow direction and sharpness)?