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Regen braking in the Prius is quite good for city driving. It can't handle emergency stops of course without the phyiscal brakes, but I don't even think full EVs can.
Once you get up to higher speeds the regen isn't as noticable. You hit the amperage limit pretty quickly and have to be careful otherwise you engage the physical brakes pretty easily. Overall, its not a big deal since you don't (or really shouldn't) be using your brakes on the highway much.
In winter, with a cold battery pack, the Prius also limits regen. Its much easier to engage physical brakes in this case, but its not too hard to avoid it if you have a scangauge or something setup to show you how many amps you're using/regening.
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