All model years accept 95 octane. 98 octane is not needed (but I find my 2007 boxer runs smoother with it, so I prefer to fill her up with that).
MY 2004-2009 accept 91 octane with a certain loss of power and torque, but everything goes back to normal (there's no loss of power) if afterwards you change back to 95 or 98 octane.
For the DOHC models it's a different story : first of all, the official power and torque figures on DOHC models have been established with 98 octane. So, if you fill your tank with 95 octane, you'll never reach the maximum power or torque figures the DOHC model officially has. Then, the DOHC models do not accept 91 octane. Your dealer can change this on your DOHC model (AFAIK a software change), but the consequence is a loss of power (less torque and bhp) if you switch back to higher octane afterwards. In order to get back to original power and torque you'd be required to visit your dealer again.
Should be in your bikes' manual.
Cheers,
GSband