My Sienna with the 3.3L 3MZ-FE recommends premium. People noted there could be a drop of up to 15 HP (from 230 to 215) with regular if the knock sensor detects knock and retards timing. I've only put premium so far but might try a couple of regular tanks when road trip season is done and the minivan sees more city use. For highway driving on mountain overpasses though, I do want that extra HP.
My older Sienna with the 3.0L 1MZ-FE had a less reliable knock sensor and was over conservative with the retardation of timing as a result. It wasn't just the loss of HP, the engine just didn't seem to run as smooth on regular fuel. I think the 3MZ-FE will run a lot better on regular with the more advanced knock sensor that can reliably monitor things in real time. As for fuel consumption, I didn't notice a difference. So it was mostly to make the engine run smoother and somewhat to get better performance.
But I wonder if the compression ratio is the culprit here at 13:1 for the base engine and 14:1 for the hybrid engine. I've noted before that Mazda Skyactiv engines can run at 13:1 compression ratio on regular fuel although the 14:1 compression ratio Skyactiv engines overseas require premium fuel. Apparently the Ferrari 458 has a 14:1 compression ratio engine that can run on regular thanks to knock sensors although it'll run a lot better on premium. So Toyota should be able to do the same, and they should.