Okra is perfectly ok for a dog. Really there's no such thing as a single "recommended" diet for dogs, just like there isn't a single recommended diet for people. Foods that work for one dog may not work for another.
Yes they can eat okra and okra pepsin. Most dogs love it and it can actually help cure many digestion problems in dogs too. However the bad thing is that it tends to give them gas.
I have a 75 pound Staffordshire Terrier that I guess can't stand the smell of fresh okra because after partially sniffing a piece he starts acting like he's going to sneeze, shakes his head and partially bares his teeth as though disgusted. Immediately upon removing the offensive Okra, he behaves normally.
I have had dogs all my life and have never even considered feeding any of them Okra. I would never take a chance on feeding a dog anything other then what is on their recommended diet. That's just my opinion as a life-long dog owner.