You can use the lowest octane number that will not cause knocking and pinging (sounds that are very distinctive, and you'll know when it happens).
Two of my sis-in-laws drive the LS400 class, and both use higher octanes, but I can't convince them to try lower octanes.
What does it say in your owner's manual? If Toyota is recommending higher octanes, then you might have to keep with the higher octanes for warranty purposes.
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