OP, I'm sure that the engine will last to it's warranty period on 87, I don't think many people would buy these vehicles if the manual stated DO NOT USE 87 octane fuel.
That being said, I don't know how well these engines do on 87, maybe the low octane map is good enough there will be no amounts of detonation but only a large reduction in power.
For the long haul, going way beyond the warranty period, I would suspect the 91 or higher will be easier on the rod bearings. It's not the detonation you can hear, it's what's going on that you can't hear in which the sensors are picking up before you notice it.
This doesn't apply to just Audi's, but many high compression engines, forced or NA, and especially port injected. DI engines are easier on bearings reducing the risk of detonation. LSPI can be problematic but a different topic.