So, all engineers know that everything varies. There are no absolutes on the planet that anyone knows of. If 86 octane can damage the engine, buying 87 octane from some low budget station risks the octane being under 87. I fully understand that 87 is supposed to be the minimum but, refer to the first sentence.
I have been buying "premium" fuel for BMW, Mercedes, Acura, and even a VW for many years. Premium from one brand may be 91 octane while others 92, or 93. I really don't care. I just don't see how saving a few bucks on a tank of gas would be worth any level of damage risk. My personal experience says the higher octane indeed improves performance and mpg. Is it enough to justify the cost? Probably not. But, then again, I burn Benjis in my fireplace when I want a little extra heat (heh, heh).
The manual for the NA 3.5L states "Unleaded premium gasoline, pump octane number 91 or higher." There is no "recommended" although, I think it does say that on the fuel door. I have no doubt it would burn 87 with no appreciable deterioration in performance but, again, why? To save $4 a fill-up and prove what? It also says the engine may knock with lower octane. They mean lower than 91.
As always, to each their own but, I don't think choosing to run higher octane fuel, even if only recommended, is foolish. Only if you are burning $1 bills to heat your home does 87 octane in the MDX make sense to me.