The Insight is a different animal compared to the more modern hybrids. Full SOC on the Insight isn't actual full charge. The Insight also allows such a wide variance in charge, from empty to full (20%-80% actual SOC IIRC) that the batteries fail sooner. Newer hybrids try to maintain a specific SOC, usually between 50% and 80%, for best battery life. Going down a steep hill and braking will get the battery SOC up higher, but it isn't great for battery longevity if done often. Remember that having a higher charge does not mean more efficient driving. Since we're talking about a regular hybrid versus a plug-in hybrid, all charge must ultimately come from burning gas.
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2013 Toyota Prius C 2 (my car)
2015 Mazda 3 iTouring Hatchback w/ Tech Package (wife's car)
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