Best indicator of 'running fine on 87', is when you turn a corner slowly and re-apply the gas pedal to resume a 40-45MPH speed limit. Does it hesitate momentarily? Even using the best 87 octane on the planet (Shell)?
Our Kia & Hyundai do. So now smooth re-acceleration exists again, using the next grade up....... 93 octane.
I used to hate having to give either vehicle more gas pedal and see the RPMs jump to around 4, thus avoiding further hesitation.
No more jumping instantly to around 4k RPMs. Now it resumes power and acceleration slowly and smoothly and stays around 2.5k RPM when accelerating again.
That's the true sign we are using the correct grade of gasoline. If you want more stress on the transmission and don;t plan on keeping the vehicle into old age, then continue with 87 octane.