I like to coast in 0 or 1 most of the time and only use 2 and 3 on hills and when I know I'm coming to a stop soon.
Using AUTO REGEN with light foot-braking at the traffic lights may surprise you. Not so efficient as judicious use of the regen paddles, but try it out and see how much better you are with the paddles than when simply using the 'lazy person's' AUTO REGEN. It's a test of your PADDLE STRATEGY. Hyundai did a pretty good job programming AUTO REGEN, it seems to me.
I agree. The auto regen works very well coupled with forward collision mitigation. Amazes me every day.