Short answer “yes”
longer answer:
preheating is considered preconditioning. The heater on board the car draws a lot of power. While plugged in and preheating, you can actually still lose range if your charging amps aren’t that high. (This is the case for me and I charge at 24-28amps)
while plugged it, it has double the benefit, 1 is the massive draw from the heating system, the other is the heating of the batteries being simultaneously charged.
using a program like stats (or Teslafi) you can preprogram the car to do both preheat or end it’s charge around your time of leaving. It is not necessary to use these programs if you’re good at remembering to preheat before leaving.
On a pleasant day 15 minutes will do a lot, on a cold day, it can be a lot longer and yet never fully warm the batteries.
using the cars built in departure time, I have found that it charges the car so early that the batteries have time to cool, and it only heats the cabin up to the temperature you had last set, so it isn’t stressing the batteries enough to warm them much. So I personally stopped using this feature.
Preconditioning and regenerative breaking fall under 2 categories that have a slight overlap in this conversation. It all depends how high you charge your batteries normally. If you keep them at 60% and preheat, your regen will be fairly effective quickly.
If you charge to 85% routinely, don’t expect to have full regen from preconditioning. It helps, but not enough.
And in cold climates, batteries can take hours to warm enough to be fully efficient.