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Well, if I were an engineer, I would design regen so that braking at speed applied the lightest possible hydraulic pressure to ensure the rotor surfaces are always dry & corrosion free.
But from what I've read about the 2nd gen & newer Prius, the friction brakes only come on:
a) under hard braking, when the braking request exceeds regen limits
b) when the ABS activates due to a wheel losing traction or a bump
c) below 7-9 mph, when regen ceases
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