You are correct. There is no transition from regen to friction. They are completely independent of each other. However when you press the brake pad, both regen and friction are working at the same time.
Then in that case actual brakes are pretty bad. I think regen is stopping at certain speed, so we lose the retardation provided by regen. Once we lose that it feels like brakes are not holding at same pressure/brake pedal position any more.