87.
I know it says more power/fuel economy at 91 in the book. I did a test early on. I ran 5 consecutive tanks of 87 and 5 consecutive tanks of 91 driving the same area/route over all 10. I did get slightly better gas mileage with the 91. I projected the cost for each over 20,000 miles and even with the decreased mpg of the 87, it was still cheaper to run 87 or time.
This test was by measuring mpg manually and did not include any hauling or towing.
If I was going to tow or go a long way with a load, I'd burn 91 for the duration of that need.