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The Gen II and III Prii all suffered this rough transition as far as I know, and it seems that carried over to the gen IV.
Blending in friction brakes with regen is difficult. In my Prius, the car transitions from regen to friction at 7 MPH. What I actually think is happening is there is mostly regen happening, with a slight amount of friction taking place. At 7 MPH, the regen cuts out entirely, and the rate of deceleration drops since only friction remains. It requires pushing the brake pedal harder to maintain the same rate of deceleration, which is a little disconcerting if you're approaching a vehicle ahead.
Normal friction brakes are very linear. A given pedal pressure will result in a given rate of deceleration. Not so in the Prius.
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