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1st Gen Insights and 1st Gen HCH have battery balance issues, but Prii do not. You don't need a grid charger for a Prius. They only have battery issues when a cell physically fails, there's no regular maintenance.
The 2nd Gen HCH has terrible battery problems for multiple reasons, mostly from expecting higher currents from a smaller battery, along with inadequate cooling. This, along with not being able to keep the cells in balance, tends to kill batteries very quickly. Some cells get out of balance and are effectively cooked to death.
I don't think the 2nd Gen Insight has been around long enough to prove whether the battery management has improved lifespan. Most HCH1 and G1 Insight batteries lasted at least a decade, it's only the HCH2 which had earlier failures. Insight and HCH1 batteries can last as long as those in a Prius if they're manually balanced occasionally from the beginning, but imbalance degrades and eventually kills the cells that are outliers, so it's generally not the case that you can simply grid charge a 12 year old battery and bring it back to prefect health. Some do, many don't.
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