..What's the highest speed y'all have gotten to before the ICE turns on?
It does not work that way, necessarily. The ICE will come on first thing on a cold morning start so you can have heat in the cabin and can turn off at some point and use residual heat for warming the cabin. The entire system is seamless and does whatever the software tells it to do.
Your right foot plays a big role just like it does in an ICE car for determining the best m.p.g. I use cruise control all the time as it seems to yield the best m.p.g. My RAV came with radar adaptive cruise control and I really like it.
I know I have a RAV not a MAV, but there is very little difference between the two hybrid systems so that is why I am commenting. In the end, just drive the vehicle like you always do and you will be impressed.
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