The use of D v B gear selection is becoming a bit clearer to me. I will use D for normal driving and use B temporarily for exceptional circumstances, subject to rpmccormick's refined techniques.
Yesterday, I only drove in D for 100+ miles and I confirmed that I gained some significant regeneration and that my rollout without power was noticeably longer. After more thoroughly reading multiple parts of the manual, I understand that this was due to "light braking" and "to some extent" when ICE is running.
I understand now that the Gear selection "B" comes into play only when your foot "lifts off of the accelerator". I missed that detail.
At pp. 391-392 of the US owner's manual (PDF) where Drive modes are explained there is no reference to gear selection D or B. One could infer that regeneration is occurring in Hybrid, Pure and Save, but it would be clearer if the relationship to the gear selector position and regeneration were explicitly explained here.
The manual does say under hybrid that "The [instrument panel] gauge also indicates when the battery is being recharged (regenerated) during light braking. See article "Brakes" for additional information." On page 20, this article the manual states that "When the brakes are applied lightly, the electric motor is used for engine braking during which the vehicle's kinetic energy is converted into electric current that is used to help recharge the battery." So here, I believe the reference is to the electric motor in the rear - not the generator in front. The manual goes onto state that "The hybrid battery is also recharged to a certain extent when the gasoline engine is in operation." This last statement could use more a bit more explanation.
Most of MN is relatively flat (compared to mountain states - stating what might be obvious for some). On snow-pack and ice, my plan is to shift into B for safety and better control prior to "lifting off of the accelerator" in order to slow down without touching the brakes. If I find myself going down a steep hill (like in Duluth or Buck Hill

), then I will use B. Finally, I understand that ACC, City Safety, et al will use engine braking when needed regardless of the gear selection.
Hope I have it right now. Thanks for all of the insights.