Most engines idle at around 1000-1500 RPM. On flat ground, I often drive a mile or more on battery before the engine kicks in. 2023 Niro HEV. All it takes is a gentle foot on the accelerator.
Update: I just got back from a short trip with my 2016 Honda HR-V. At the start, before the engine was fully warmed up, after coming to a full stop on a level road, the engine went to 2000 RPM as soon as it started moving, and stayed there until the car reached the 45 mph speed limit, then dropped to about 1500 rpm, as would be expected with a CVT.
Two miles down the road, engine speed went up to 3000 rpm to maintain the same speed while climbing a grade. On the return trip, with a warm engine, it started at 1500 rpm after a full stop, but quickly rose to 2000 rpm, as it had on the outbound trip. Gentle acceleration at both ends of the trip.