I find that I rarely need to back off on the pedal all the way to stop where I want to until I'm actually stopped or barely moving...it just takes a little practice. IOW, YOU control the amount of regen the car produces, up to the design max from using a lot, none (coasting), to using the maximum. If cruising, the cruise control does the same thing to maintain the speed going downhill - if the hill is steeper, it will use more regen to hold the speed steady. Making it more complex doesn't seem to be a worthwhile endeavor - IMHO, you have all of the control on the level of regen you need under all circumstances. I think that I read, you can get even more regen if you switch out of comfort mode, but the control is the same. Part way, and you're coasting, press further, you're either cruising, and press more and you're accelerating. Really, letting off completely on the go pedal feels like a pretty good stab at the brakes, but it is entirely regen. For this reason, the logic also turns on the brake light automatically so you have less chance of being rear-ended. My impression is that after the software update in July, they decreased the level of regen slightly, but I have no way to measure it...this is seat of the pants, subjective impression.