When I first got my 2002 Limited 4Runner last year, I was using 91 Octane. Just recently I switched to 87 Unleaded, and didn't notice any difference. Wish I would have just done 87 unleaded from the beginning!
I get the cheapest regular gas I can find. Runs awesome either way. I've got a 5vz-fe with over 300K and I have always run the cheapest gas and I have never had an issue. She runs silk smooth just as the day I bought it new in 1998! Paying more for gas, you are wasting your money IMO.