Back in the old days (carburated) - compression ratio and octane were as followed:
6:1 - 83 octane
7:1 - 87 octane
8:1 - 92 octane
9:1 - 96 octane
10:1 - 100 octane
11:1 - 104 octane
12:1 - 108 octane
But now with modern fuel injection, computer control, and advanced knock sensors - you can drive the octane requirements down pretty far. The 1ZZFE is a good example - 10:1 compression ratio - 87 octane - 5 degrees BTDC (w/ VVT-i it is 5-48 degrees BTDC). My 2ZZGE with 11.5:1 CR runs on 91 octane just fine. Even so - I like to run 93 or higher in the Matrix and at least 89 on the Corolla - as they both get slightly better fuel economy and no pinging at all, even with heavy engine loads. Cost actually works out almost even at the end (I get about 9-11% better fuel economy, but spend about 10% more on the better stuff = almost no net cost savings or loss, but at least the engines are happy).
Sounds like your 4AFE is just fine - it is not unusal for an older engine or one with lots of miles to run pretty decent on higher octane. The carbon deposits are effectively raising your CR slightly and creating "hot spots" that could cause detonation. That's why the owner's manual is worded in that manner - 87 octane or higher - best way is to fill the tank with increasing grades of octane until you find one that doesn't ping under normal driving conditions. Then that should be your minimum octane requirement for your car. Might need to "decarbonize" the combustion chambers - but that could potentially cause more problems than good, so be careful.