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The aids can be annoying if you're driving hard intentionally (the fake "torque vectoring" using brakes is the one I usually notice if I'm cornering hard on a bumpy surface... it seems to be a bit more aggressive about interventions than it needs to be), but they're not gonna wreck your car. Leave them on. Sport mode is fine for everyday driving. If you leave everything on, sometimes the computer doesn't like accelerating into a turn from a stop sign or junction when there's any kind of loose surface (bit of gravel on road, dust pile, etc), but sport mode is enough to stop those annoying interferences.
Also if you live somewhere with rain, get the fuck off the Prius tyres. They're fine on dry roads but driving in rain with them-- even with plenty of tread left-- is like driving on snow.
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