I found when driving in L that tapping the brake to disengage the cruise control, like I would in an ICE auto, causes too great of a deceleration. I have learned to keep my foot on the accelerator and tap the regen lever to disengage the cruise control. Doing this provides an effect similar to tapping the brake in in ICE auto. Trying to disengage the cruise control with the cancel button is a little more difficult due to its small size. It is much easier to feel the regen lever. I hope this helps.