I always use 91 octane or 93 if in the US in my SC. I often use mid grade in my ES330 and premium occasionally. It has 250,000 Km (150,000 Miles) and runs like a top. I have been unable to see much difference in mileage.
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On the ES it says to use premium 91 octane or better. Different regions of the US offer different octane values for regular, mid-grade and premium because you cannot get the same octane value in the Rocky Mountains that you can get on the California coast. If you want the fuel economy and/or performance on higher compression vehicles: such as Lexus, then you should not ever use less than what the posted octane values on the pump meets or exceeds what Lexus says is for your vehicle in whatever region you are fueling up in.