the "B" position

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Why are you in B mode? B mode has nothing to do with the actual braking system. It controls how much regen you get when slowing down. Just put it in R and back up. My 2019 has a feature called hill hold which leaves the brake on until I touch the gas petal. Its controlled by a button on the center consol
the hill mode only keeps the brake on for approx 2 seconds or so to allow time to move your foot from mbrake to go. Agree put in R to reverse & press go slowly.
 
It really does not jump forward, it slowly takes up drive. Maybe try releasing the brake pedal more smoothly instead of digitally.

If you have the brake pedal depressed fully, you will see on the display which shows where the drive or regen is going that there is no power flow anywhere. As you release the brake pedal, shortly before it is fully released you will see that the power flow shows power going from the battery to the motor(s). That is replicating the creep that has always been a feature of automatic transmissions. At very slow speed, you can use the brake pedal to control speed rather than the accelerator pedal.

Sounds like you just need to get used to it, but maybe need to finesse your control.
 
I have a 2024. So maybe it's just me. I'm used to driving with manual transmission. My previous car was a very old Suzuki Alto that I drove for 15+ years 😅 I've never driven automatic transmission cars prior to my current one 😬 I probably just need to get used to a different kind of driving style etc.
Try using auto hold. When you brake-stop the brakes will hold until you give it some accelerator pedal. I use it all the time so I don't need to keep my foot on the brake when stopped at lights.
 
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