I would be disinclined to trust your YouTube sources, on the basis that if they're driving at 82mph and trying to be economical (either financially or in terms of fuel), then they're doing it wrong!
There's a lot of inefficiency in Charge mode - you're using an inefficient source (the ICE) to put power into the battery with associated transfer losses, then you're getting that power back out of the battery with further associated losses. Whilst not all the power harvesting will be inefficient (the hybrid system is fiendishly clever in siphoning off power that isn't 'needed') the car is set up to do that all the time anyway even when not in Charge mode.
In the circumstances you describe, I would suggest that it would be more efficient to charge the car at home and just switch to HV mode during the journey once the EV range drops to approximately the amount of 'town driving' you're going to do at the end of your journey. That will keep enough in the battery to use EV mode in town, without wasting fuel in Charge mode. This is basically what Geoff is describing above, using HV as the default. That only makes sense on long journeys though - don't switch to HV mode and then find you get back home to your charger with EV range to spare!
The only time I could see Charge mode having any real value is if you can't charge the car from a socket before setting off. It could then be used on a long run to build up charge for EV driving later on. Even then, the transfer losses mean that I'm not convinced it would work out more to be more efficient overall, but it would give the advantage of reducing local noise and pollution in the built-up area. Personally I'd just stick with HV mode which gives pretty phenomenal returns even on an empty battery. It is at least as good as the Gen4 ordinaire despite the extra weight being lugged around, possibly because it can store more regen charge in the larger battery. Set the cruise to 65mph on the motorway, leave the outside lane to the German dieselburgers, relax and enjoy an easy 70+mpg. Away from the motorway, I'v found mid-90s mpg to be achievable on a warm day when starting with zero EV range, although perhaps not in Yorkshire as you have proper hills up there!