What is the typical touchdown vertical speed of a large airliner?
From an MIT ICAT paper:


  Today's commercial autoland systems utilize the ILS (...) At around 30 ft above the ground, the aircraft enters the flare mode, during which the aircraft pitches up to reduce the vertical speed from its current descent rate to 1-3 ft/s by touchdown.


Which means we're looking at 60-180 FPM touchdown rate.

Kiss landings (near 0 FPM) are undesirable, because they can't be achieved on regular basis without risking long landings. They can also break landing gears (more on that below).

I checked various Boeing/Airbus operating manuals, they do not state the target rate of the flare mode, but from the 747-400 flight crew training manual (page 6.11):


  
  Do not allow the airplane to float: fly the airplane onto the runway.
  Do not extend the flare by increasing pitch attitude in an attempt to achieve a perfectly smooth touchdown.
  



Left: a shimmy event "damaged the wheel, tire, and shimmy damper" (Boeing). Right: what a shimmy looks like (YouTube).


  Landing with extremely low sink rates is more likely to experience shimmy than a firmer landing because the torsion links remain in an extended vertical position, where the damper has less mechanical advantage for longer periods of time (Boeing).


Boeing commercial aircraft are designed for 600 FPM landings, with 360 FPM when above the maximum landing weight. Boeing also says pilots are the best evaluators of hard landings, "because of the difficulty in interpreting recorded acceleration values at the CG of the airplane."

Based on pilot reports and data, exceeding 240 FPM is a hard landing, which further confirms the 60-180 FPM to be an ideal firm value whether the landing is flown manually, or with the auto-land (Boeing).