In the RC300h I always use Normal around town and Sport on the open roads. I've never use Slug, sorry ECO mode, except once to try it out..
Sport+ is used when I'm having fun but our UK roads are too bumpy to use it comfortably.
Fuel consumption isn't really a concern, easily get mid 40's around town and low 30's on the open roads averages out to what you see in my signature below.