My thinking is that the pack heating that comes from charging the pack, or from heating it when we preheat the car can't take the pack above a temperature that will allow for more than 30kW of regen. I have never seen the limitation higher than 30kW if the pack had to be heated in any way, no matter how much heating was done. I think the only way to warm the pack beyond that 30kW regen limit is by driving.
As for your example above, where you only gained 10kW of regen in half an hour of driving with range mode off in cold temperatures, that doesn't surprise me at all. If your garage was 23F, I'm guessing it was colder outside, and possibly getting even colder as you drove. Unless you were driving really aggressively, gaining 10kW of regen under those conditions sounds about right.
One night my wife had driven home from work (over 50 miles) and we then went out to dinner. It was cold, but the car didn't show a regen limit, as the battery had been warmed quite a bit from the long highway drive. Shortly before we left the restaurant we preheated the car, to warm the battery. This was a couple of months ago, before we had torque sleep firmware, and we hadn't ever used range mode at this point. I point that out because of what I'm about to tell you. I started driving the car home, uphill, from downtown Ithaca, still with no regen limit. But by the time we got home ten minutes later, I noticed that I had both a regen and a power limitation! I told my wife that the car was telling me I was driving like a wimp! (In my defense, with her in the car I have to, as she is very sensitive to the P85D's acceleration, but I generally drive like a wimp anyway.) It was cold enough and I was driving mellowly enough that the cold was overpowering the heat the car was generating, and the pack was actually getting colder as I drove. (It was below 0F at the time.)
Anyway, the point of all that is that it's not surprising at all that you only gained 10kW of regen in 30 minuted of driving when it was very cold.