I drove a G2 for a day and, in a reversal from most commenters here, have no experience in a G1 (I wish). My take:
The G2 is a snore. It's actually a bit smaller inside than my Civic. I know nothing about its IMA system except that its peak voltage is vastly different from the HCH. The trunk was pretty roomy, all things considered.
It was super quiet. Driving it was about the least engaging interaction I have ever had with a car, and I've driven a lot of really numb cars. I reckon a Tesla on Autopilot would be more interesting.
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