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My only disappointment so far (2 years): the Prius is helpless in snow or on soft ground, never mind real mud. It has Goodyear "Integrity" tires....
Worst I've done with the shifter so far is sit expectantly in neutral when I thought I was in gear. Sounds as though you'd favor a motion...
The warning beeper sounds (inside, not outside) while backing up. Why is this?