Cruise control can only be set at or above 30mph in gas or EV. If you cannot set the cruise in EV, maybe you have to much drag at the speed your tring to set it at. I can't speak for the AWD but when my '05 FWD was new, I could NOT set the cruise above 31mph in EV. At 6,000 miles, I was able to set my cruise at 35mph. At 12,000 miles, I could set my cruise at 38mph but it would not hold till a full battery drain. On a flat road with no strong head winds, I can set the cruise at 35mph all day long without the ICE starting up except to recharge the battery.

The reason I set my cruise when the engine is running is because its easier to coast down in EV to a set cruise from 40mph (using "L" above 42mph) than to set the cruise at 30-35mph in EV. To many restarts above 32mph for me to set the cruise in EV.

Check your tire presure and try 44psi. I don't think they changed the '06, but who knows.

GaryG