Yes, I believe it's David's firmware. I get plenty of regen - in fact, I don't use all of it because I want to reduce stress on the battery and controller. Reverse is a little weak, but give that this is the only bike under $15k that even offers reverse, I'm happy with it.
The only modifications I've done myself are a crude pack temp display in the cargo compartment that reads the temp at the surface of the top of one of the middle modules (I mentally add 5F to whatever it says when the bike is in use) and the backrest for the topbox. Oh, and an LED reading light inside the topbox. I also carry a J-1772 adapter so I can charge at EV charging stations.
It isn't that I can't balance the bike while moving, it's more that it's too heavy for me when stopped or creeping, at least on a non-good day.