I’ve cooked with home dehydrated kidney beans before, which are the staple for my vegetarian chili. I generally do cook them first as part of a bigger meal. They rehydrate really well, but only if you chop them up first. I usually do freezer bag cooking, and they’re soft enough for me. Chickpeas when made into hummus rehydrate 100%, although they need an obscene amount of water to really rehydrate. Lentils don’t rehydrate that well and remain a bit crunchy, but it’s not too bothersome to me.