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We only have 91 and 94 here, 94 is pointless without a tune so used 91 since bought new. Pretty much all my Ford Performance vehicles (including my '24 F-150 Raptor) is running premium, always.
Dealers aren't really the most reliable when it comes to technical advice. Regardless, the topic of fuel is in the owners manual.
Really it's the yellow highlighted section that folks are debating here regarding a stock, untuned ST. On a 95 degree humid day, if you are towing something, it might be best to have 91+ in the tank.