Had a thought ... since batteries can't absorb the full regen braking energy transfer, how about a couple farads in each wheel, connected by bus bars to "directly" soak up that energy, then hold it for a few minutes untill the next acceleration, or "gently" push it back to the batteries over time. Elaphe? Gorazd? I don't know if y'all have space for this kind of stuff, and maybe there is an explosive hazard (wheels take the biggest bumps), but maybe it's the most efficient way to smooth out the kinetic / electric energy exchange?
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"since batteries can't absorb the full regen braking energy transfer"
Where is that written?