Car makers don’t own fuel companies, so when they say a car needs a certain octane, it’s because the engine works best with that. You might see some differences depending on how you drive, but a car made for 87 won’t gain anything by using premium. Since yours is a hybrid, it doesn’t burn through fuel fast anyway, so the fuel stays in the tank longer. Premium has fewer additives, so it’s less likely to cause buildup in the fuel system. I’m sure someone else can go into more detail though.
From what I’ve seen and read, there’s no clear answer. One thing I did notice, at least here in Europe, is that premium gas has less ethanol. That might help the fuel system last longer. Other stuff like additives don’t seem to matter much. If anyone has more info, feel free to add.
Regular fuel is meant for engines with lower compression. Premium is for high-compression engines that aim for more power. Higher octane helps prevent knocking, which is when the fuel burns too early and can slowly damage the engine. That also makes the engine less powerful. In the US, your car should run just fine on regular.