My brake regen doesn’t work at all when the SoC is 100% which is disconcerting, but after a few miles it comes in & works just like engine braking on an ICE car.
There’s also a “B” setting which is what you’d use for lots of town driving, the regen is pretty harsh & gets close to “one pedal” but not quite.
It’s also possible to turn off regen completely whilst decending long motorway hills & no-regen in neutral is kinda terrifying. Remember that it’s not a real neutral, the motor is still turning but with next to no magnetic resistance at all.
So, I drive it in the drive mode all the time & it regens as if it was engine braking. Putting the foot on the brake increases the regen level dramatically, and if you really jump on the brakes it does eventually engage the brake discs.
Regen is efficient enough in drive & if you want it much harsher in town you can use “B” mode, it does use upto about 50kW of regen power from what I can tell (vs 100kW of accelerating power). Going down a long hill does affect the miles/kWh figures noticably.