My dealer said regular was fine and not to waste my money on anything else. I did the research, and regular is fine for any car. The margins are greater on the premium and mid-grade gas, therefore, the gas stations/oil producers have more of an incentive to make you think your car needs it. It was true when there was carbeurator engines, but since everything is run by computers these days, there is no reason for anything but regular gas. Especially since cars have knock sensors in them, the slight impurities in regular gas will not harm your engine at all.
With respect to performance from regular gas, it is true that there is a slight difference. It is highly unlikely that you will notice it, especially in an SUV. If you're driving a BMW M3, you will probably notice the slight increase in performance, but almost unlikely with an SUV.