If you car's maximum charge was set to 80% prior to the start of your trip, then this would be normal. The way the car is designed, regenerative braking will be reduced as your car gets very close to that 80% mark. You say you only drove several miles, so it all sounds normal to me. I charge my car to 80% most of the time. I have a 10 mile drive to the nearest supermarket and it's all downhill, so I get the "regenerative braking reduced" message all the time when I leave the house with a SOC approaching 80%. Nothing to worry about.