Maybe the difference between yours and my perspective on if it's unsafe for i-pedal to not be the default regen comes down to a difference in something that's probably more important. Maybe you and I have a difference of opinion on how aware drivers should be of what's going on with the 4,000 pound car we're entrusted with controlling.
In the months that's gone by since I earlier posted on this thread, I've gotten used to I-Pedal and use it all the time, even when I have a passenger (I can use I-Pedal a lot more smoothly than I used to). So now when I put the I5 in Drive I immediately pull on the left regen toggle lever and put it in I-Pedal. I do it with both hands moving one-immediately-after-the-other to change the "gear" setting to D with my right hand immediately before changing the regen to I-Pedal with my left hand. To me it's like one motion with two hands, analogous to
playing a flam on a drumhead. Even with that very habitual motion, I still make sure I hear the ding to alert me that it's now in I-Pedal mode (back to the awareness of the car). Likewise, when slowing to a stop I always pay attention to if it's actually doing it. Always. It's yours and my responsibility as drivers of our 4,000 pound cars. (For reference, that's even heavier than my ex-wife

.)
Do I wish the I5 defaulted to the regen setting I had the last time I had it in Drive? Sure. Do I call it "unsafe" for not doing so? No. Saying that would mean the equivalent of saying it's not my responsibility as the driver to make sure all of the motion settings I depend on are set.