Without knowing the exact battery charging mechanics of a hybrid whilst running, I can imagine that lots of short journeys around town when the car spends significant time in EV mode or with the engine running at low revs, can have a significant drain on the battery.
Whilst running in EV mode, I assume many of the cars auxiliary components(12V) will need to run off the battery as the voltage from the traction battery is too high, same as full EV cars. When the engine chimes in, it will tend to be at lower revs most of the time compared to a convention ICE and hence there is likely to be less continuous charge from, I assume the generator(or separate alternator?), to charge the battery.
Just my thoughts as why the battery is often reading low voltages.
Questions for current owners, if you power the car on and its in EV mode and sit in it stationary, how long before the engine starts up? If you do the same, switch on the radio, headlights, heated seats etc, one by one, does the engine fire up quicker?