The only time I see my battery "fully charged" is after going down a steep hill for a couple of miles. Normally, the computer is trying to keep the SoC in the 30-70% range. I also had a Prius in 2015-2020 and somehow I don't remember if the battery indicator behaved in a similar way.
Regarding the fuel efficiency: it's late November now, which means there are two factors that affect our mpg's: cold(er) weather and winter-blend gasoline, which is typically less efficient than summer-blend gasoline. Between these two factors we expect to see the fuel efficiency drop by 10-15% against the baseline.
The factors that affect our fuel efficiency all year round are the driving style, the ways we use our vehicles, and the road conditions.