This is definitely a software issue. When I step on the brake at the same time when I pull back on the regen lever, the transition between regen#3 and actual brake calibers doing the work is not smooth. These 2 actions need to overlap instead of being one after another. It feels like the regen disengage and then a second later the brake calibers engage in ABS mode. My driving habit has been accommodating for this issue and avoid using both lever regen and foot braking at the same time. I don't think much about it anymore in my daily driving.