I haven't noticed the grabby/numb thing yet. I can feel the transition from regen
to hydraulic, but it's smooth enough for me and not a bother. I do approach stops
gradually, though, and that might make a difference.
I did notice something a day or two ago. I was approaching a stale green light that
turned yellow shortly before I got to the stop line. I judged it safe to nail the brakes
and glanced over at the motor power gauge expecting to see massive regen. I saw
almost nothing. Apparently the hydraulics took over in that hard-stop situation.
There was nothing odd about restarting after, but I don't think I did any creeping.
Looking at the Service Manual, bleeding the LEAF is routine, there is nothing extra to
do for the ABS in the LEAF.