I don't think 'regenerative braking' requires use of friction between the pads and the disks', you have totally misunderstood, and please point out where you think I have said that.
I am saying that when braking, i.e using friction between the pads and the disks, then increased regeneration happens as a consequence of braking/slowing down.
What I find illogical is that applying the footbrake does not apply the brakes, but applies regen only for a period before applying the friction brakes. If I think I need to apply the brakes I don't want the car saying 'oh hold on there........ I'll try a bit of regen first and see if that works!
Unless using two footed driving, the very nature of lifting off the throttle and moving the foot to the brake pedal will have started the regen process anyway. The addition of further friction based retardation will then increase the regen strength as can be witnessed on the power screen.
As regards to the computerisation being optimised for maximum energy recovery when braking, personally I would prefer the optimisation to be towards the braking and stopping the car.
I would welcome any evidence/documentation to support your theories.