I know that people have different opinions on this; here is what happened to me:
My 1988 Cavalier used knock if you accelerated hard and had less than 89 - if you used this grade no knocking.
My 1993 Corolla happily ran for 250,000 miles on 87 (and bought at the cheapest (and often sh**iest) no name gas stations) - I gave her away to my wifes friend who drove it for ages (and I know fed it crap gas) - she gave it to her mother - it still runs well, strong and doesn't blow black poop out the back and is well into the 300,000 mile mark.
My 04 Jeep has 100,000 miles and hasn't complained about 87
Our 08 Yaris is supping 87
My Smart.... well, can't lie... since the book says 93 - I pay extra buck 50 to 2 bucks and use it
Cheers