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Unleaded seems OK

MAZDA recommends the use of 95 octane fuel in my 2006 Mazda 6, but I've been using regular 91 unleaded since day one and have done 130,000km. But I recently read that you could damage your engine if you use a fuel with too low an octane rating for a long time. Should I switch to the recommended 95 octane/E10 ethanol fuel?

In a sense you've already answered your own question. You have used 91 octane without a problem. The Mazda 6 will cope with the lower octane but will run at its best on the fuel with the higher number.