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The S and the L are there to be used. You are going to get less regen when you use that, and if you're having to jam on the brakes maybe you should re-evaluate your driving style. I do not know if the laws there are different about stopping for orange lights, but I know here, if you're close enough that you'd have to stop short, you have enough time to go through it instead. If you see it from a ways back, you can use the brake pedal just enough to get the charge bar filled up without having the friction pads used, and you'll roll slowly getting some distance even during idle-stop.
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