Agreed in general, but these guys are saying the Tacoma on 87 and the Land Cruiser on 91 supposedly make the same HP/TQ.It will produce the highest hp/tq numbers and best efficiency on 91 octane, the knock sensor will tell the ECM to retard timing to a safe level on lower octane fuels and the vast majority of these engines will run their entire lives on 87. 1GR-FE and 2GR-FE have been like this for 15+ years, probably other Toyota engines as well.
Just went down a little internet T24A-FTS rabbit hole and there are plenty of arguments with no conclusions. Looks like the Highlander requires 87 and the various Lexus models with this engine require 91. But in that case it makes a little more sense, the Lexus models make about +10 hp/tq over the Highlander
Maybe it's a recommended vs required kind of thing and like you said the ECU will tune/detune accordingly