It's been a while, but I vaguely remember an economics professor of mine stating that it's not inflation which is the core issue for people, firms, and economies, but an increased price volatility which positively correlates with high inflationary rates. The take-away was that when people can reasonably predict what inflation might be MoM, or QoQ, businesses and individuals are able to price transactions and required rates of return accordingly.
So yeah, by that understanding, inflation can be normal in a healthy functioning economy. It is uncontrolled/unpredictable inflation that's problematic.*
*Grain of salt, I'm not an economist and it's been some time since I've seriously studied the subject matter. Commenting to join the discussion