FWIW, 91 octane is also only "recommended" for the Camaro...I can tell you the low octane table has a noticeable lack of power, and I won't put less than 93 in it. Back when the car was stock but for an intake and exhaust, it'd still knock on occasion even with 93. Hell, even my LM7 knocks on the "recommended" 87 octane.
Will a 2.4 see a similar difference? Doubtful. But if the book says do it, do it. 87 might work, but is it worth cheaping out on? If it knocks, use higher octane fuel. If it doesn't, and/or you don't mind the lack of power, then 87 won't hurt anything.
As an OBTW, use something like HP Tuners to verify knock, not just your ears...