Modern auto engines do not ping - knock detection adjusts timing and fuel to prevent any pre-ignition or detonation.
So when you buy an engine that is designed for 91 and you use 87 or less in it will run fine. It is not producing the power you paid for is all. Sometimes the vehicle will use more 87 per mile than 91, especially if you are tow / hauling and actually using max power.
My 2012 F350 - 6.2 V8 flex fuel engine runs the same or a bit better "$/mile cost" on E0 or E10 91 pump gas than E10 87 when tow/hauling. It pulls better in the mid range running on 91. This opinion based on 4000 miles hauling a slide in camper and towing a 22 ft trailer trip in the west of Canada and USA as far south as MX.
"They" say E85 ethanol gives better performance yet.
Running around local to my summer camp not towing I run E10 87 pump gas. It has plenty of power to achieve posted speed limits hauling nothing. But it I'm going to put it to work I use 91.
Stock powertrain with 100,000 miles on it including the spark plugs.