There's clearly something wrong with your Camry V6. I have owned and know tons of folks with many gen's of Toyota/Lexus V6(1MZ, 3MZ, 2GR etc.) that have no detonation issues on 87 octane. You may need knock sensors??? I believe that you have had a timing issue since you have first noticed this. Not that Toyota can't get it wrong now & again and maybe you have one.You've clearly never driven an MZ V6 Toyota (my Camry)
I'm back on the 93 now that prices are on the way down, and it still pings slightly under certain conditions
But on 87 it sounds like angry marbles pulling away from every red light
And I could feel where it was down on power, and pulling timing
10.8:1 compression, what're ya gonna do
Also literally no one else but me puts 93 in their MZ V6, like the owners manual recommends you do