I have a 2000 GS300 and have been running only 87 octane in it since the year 2001 and currently have 87,000 miles on it. Never really noticed a performance issue (come on, its not a 454 hp high compression engine, just a little 6 banger). Just changed the spark plugs and borescoped the cylinders. Plugs really don't need to be changed, just cleaned and regapped, and cylinders/valves look fine.
Conclusion: If you want to spend more money for fuel, go ahead. Its the same as thinking Shell gas is better than BP. Its all the same stuff guys. The reason the car makers tell you to use the high octane is that you get the best (lowest)emmission results. For my money, I will keep using the 87 octane in my six cylinder toyota.