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No worries at all - unless the knock sensors fail (which is highly unlikely), any ectopic detonation (which is the cause of the sound we call "knock") will result in retarded ignition timing until it stops. Yes, this reduces power a bit - but you won't notice it at all in routine driving. It won't run poorly unless you're thrashing it at WOT.
If the knock sensors fail, it'll be obvious to you and everyone within earshot - but that's probably a 1 in 100,000+ chance in a new car. Fill it with 93 when it's half empty.
PS: They did the same thing to mine - my salesman told me that "all Toyotas run on 87" when I picked up the car. As it was dealer-traded from 60 miles away, I'm sure it was driven from the other dealer with 87 in it as well. I suspect that few if any dealers actually fill new car tanks with 91+.
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