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Yes the engine can run on 87 given the knock sensors, but it wasn't designed to run with the timing retarded, which is what the EMS does when it detects knock. Is one tankful going to hurt the car? I doubt it. If you run 87 all the time, now you're a test pilot. I get why it might happen infrequently. I don't get why one would choose to purposefully run 87 as a matter of practice. Sell the car and buy a Camry if you're going to do that.
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