Yes, I have had more insight in subsequent episodes. Not a terrible lot, but enough that I've gone to hospital willingly rather than involuntarily. I've also found it helpful to have a therapist who knows me well and can tell early on that my mood is becoming elevated (or depressed). Then we can work on sleep hygiene, schedule regulation, and usually also med changes to prevent a full on manic episode. If I'm lucky, I can get away with just hypomania.