Toyota have well documented why they don't use Lithium batteries, cost and reliability. The new Prius still uses Ni-MH batteries, again for reliability, cost, and they are able to charge them at higher currents (more efficient regen braking) without overheating. The mpg my wife's new Prius can get is very impressive.
As for the 400h and lack of features - it is an old design now so things like Sat Nav now look outdated. Auto folding mirrors etc. is probably more of a commercial and marketing decision. It's not as if Toyota didn't have the technology, they just choose to not include many options on UK vehicles compared to their local or US market.
The 400h does drop its mirrors when in reverse, the same as the RX300 and RX350. You just need to make sure the adjuster switch is in L or R position and not neutral. It would be nice if the reverse position could be adjusted and stored in memory, but it just drops to a factory set position.