The same with my '96 ES300 - identical V6 as in the Camry. But surprisingly, they ‘recommended’ premium fuel, while the Camry recommended regular. I tried both, saw no difference in power or economy, so I used regular. No problems in 15 years.
I checked fuel economy.gov, and they have identical gas mileage estimates for the ES300 and Camry using regular. No high test listed. I only mention this because Lexus recommended high test in the owner’s manual in 1996. I imagine that the recommendation was revised since then. The EPA/DoE don’t recommend fuel, but use auto manufacturer recommendations.
Yeah, “recommended” is usually a sign that the engine will retard the timing if you use regular, which will cut power a little but not hurt anything. Makes me wonder if they have a different distributor/ecu setup in the Lexus version, or if they just assumed Camry drivers are too boring to care about more power. 
They’re no longer doing that. Mine just says use 87 octane.