regenerative braking can be uncomfortable for passengers as the car is constantly alternating between accelerating (or constant speed) and braking. It isn't even light braking, it is significant braking.

I generally turn off the auto regen braking because i find it uncomfortable.

Importantly, regenerative braking is a danger on icy roads. I disable it entirely in the winter in eastern Canada because it often causes the tires to lose grip.

I agree about the icy roads, but for the braking, that's easily remedied by just not completely releasing the accelerator. I just modulate how much I want to brake with the accelerator pedal.

There must be some connection between traction control and regen braking in newer Teslas, because I didn't really have any problems with it during the past winter. A friend working in auto industry was involved with doing competitor analysis and was shocked back in 2014 or something like that, the Teslas they tested simply spun out of control when letting go of the accelerator in slippery conditions.

They didn't care much for convential wisdom and car building competence in the early days of Tesla.