Next time, I would try leaving the car ON in Park for several minutes after a long drive to simulate your gas fill up. Leaving the car on will allow you to monitor the charge level meter in real-time (make sure engine doesn't start to charge the battery). If the battery is having problems, it should fall just as quick (probably quicker). If it doesn't fall much, turn off the car and wait a few minutes. If battery is multiple bars lower on restart, then it is likely something to do with charge calculation during car initialization. If charge is NOT multiple bars lower, then the test results will not be really helpful since you were unable to repeat the problem.
Another note about the test the dealer performed. ( I apologize in advance for this LOOONG post, but I find battery technology to be very fascinating.)
If they tested the hybrid battery while the car is parked, it is not a good test of the condition (I made this mistake when I first checked my own battery health in my Camry Hybrid). Under minimal load, a weak cell may report minimal voltage difference from other cells, which is used to determine "health". Once load is applied (driving in EV mode), the weak cell would drop faster than the others, causing the battery meter to fall very quickly (weakest link). Toyota programmed a certain amount of allowed deviation to account for wear and tear over many years, so a code will not appear until the problem is pretty bad. This (one or more cells dropping much faster than others) happening under load is something I've seen reported by some Prius drivers leading up to a battery failure. In my 2007 Camry with 113,000 miles, I tested the battery last month before selling to my brother in law. Voltage difference at rest between lowest voltage cell and highest was only 0.2v. Under load, it only went to 0.8v max difference for a moment. This battery is considered healthy because all cells are similar in strength (though capacity is probably reduced from new). All cells will degrade over time with use; You just want them to degrade at the same rate. A healthy battery pack that is HEAVILY used will usually have much more usable capacity than a new pack that has 1 or more weak cells.
Another possibility: Maybe the system is having trouble balancing the cells fully due to long periods of minimal use. I'm not familiar with how the system handles balancing cells, but if this is the reason for battery fluctuation, I think the dealership might have access to a machine that can rebalance the cells. Again, I am not sure of this but it is worth mentioning.