My Ford PHEV does regenerative braking through the brake pedal. The brake pads only engage if you press hard enough that the braking demand is higher than the slowing caused by regenerative braking. It will show you how well you’re doing with a gauge to show how much of your regen-braking force you’re using, and if it never engages the brake pads until you’re already stopped (for the brake hold function) it tells you 100% of the braking energy went into the battery. Pretty cool.
Regenerative braking happens through the brake pedal on my Ford PHEV. I prefer it, because it drives the same way every other car does but still allows you to stop with 100% regenerative braking as long as you don’t press too hard on the pedal.