On the Two, there are touch sensors only on the driver's door. But, you can program that sensor so it unlocks all doors, including the hatch, when you touch it. I use that to drop my briefcase behind the driver seat before I enter the car. To unlock the rear hatch, I generally use the fob as I approach the car.
Out of curiousity, does the steering wheel feel different on the new Prius vs your 2009 Prius? I didn't like the sandpaper like texture of the 2010 package II Prius. The leather wrapped steering wheel is very nice.