Peak efficiency of the ALH is 197 g/kWh, or approximately 42.5% efficient per the conversion factor listed
here:
Peak efficiency of the CBEA is 196 g/kWh - although it needs to be noted that the CBEA is likely cheating for this, and it's definitely not doing a regen - or approximately 42.7% efficient.
Peak efficiency of the ESTEC 2ZR-FXE (as used in the 2016+ Prius) is 40%:
http://papers.sae.org/2016-01-0684/
So, on a raw efficiency basis, yes, the ALH and CBEA are more efficient than the ESTEC 2ZR-FXE.
However, it's how you
use that power. Running lower cylinder pressures than optimal, or off of optimal RPMs? You fall off of that peak efficiency, and it only takes 209 g/kWh operation to get a diesel to match the 2ZR-FXE. And, let me get to another point.
I'm going to drop a BSFC map for the previous version of the 2ZR-FXE (as used in the Gen 3 Prius) here, I'd expect the ESTEC version to look similar, although with better efficiency in general. Ignore the green area, that's the Gen 2 Prius's 1NZ-FXE for comparison.
Note the operating line - outside of warmup, or a fully charged battery at vehicle speeds that prevent the engine from shutting off due to mechanical limits, the Gen 3 Prius will follow that line only - the worst case efficiency is, if they scaled this sanely, under 250 g/kWh (the increase in torque at 3500 RPM is due to shutting off the (rather high duty cycle) EGR). 250 g/kWh on a gas engine is roughly equivalent to 256 g/kWh on a diesel... and there's many situations where the ALH or CBEA will be worse off than that, when cruising, between suboptimal gearing, selecting a gear for vehicle responsiveness, and the lack of a hybrid system. And, the normal operation target is to stay under 230 g/kWh - 35.6+% efficient, and equivalent to about 235 g/kWh on a diesel. That's a
lot of the time on the ALH and CBEA.
What the hybrid system enables, more than anything, is to keep the Prius's engine very close to its efficiency peak in most situations. If the vehicle power demands are lower than the minimum efficient power for the engine, rather than throttle the engine back, it can just shut the engine completely down, and use electricity. If the battery's low, it can then run the engine at its minimum efficient power, and use the excess to recharge the battery, cycling the engine as needed. Also, because it will shut the engine down when it's not needed, you don't waste fuel idling. (And, as far as descending hills... descending in gear means the engine's in overrun, and blowing cold air through the emissions system, which the Prius avoids unless engine braking is specifically desired. Descending in neutral wastes fuel idling (although less fuel than would be wasted getting back up to speed after descending in gear). The Prius gives you the choice between descending while regenerative braking, or giving it a touch of throttle to cancel out the regen, and descending in what's effectively engine off neutral.)
Now consider that the Gen 4 Prius's engine is
more efficient than that, and it also has wider ranges of engine-off operation, more low-speed torque delivery from the electric motor, improved power electronics...
Basically, the clever part of a hybrid isn't that the engine's as efficient at the peak as a diesel, it's that the hybrid system keeps the engine that you have near its peak, as opposed to a conventional diesel that often falls below its peak.
Oh, and finally, Gen 4 ain't a penalty box, especially not compared to some of the garbage VW was shoving TDIs into.