Is undigested food in poop normal in terms of health and not a sign of malabsorption?

Of concern. Medicine often has a covering that goes through stool unchanged. Partially difficult-to-digest foods may be not entirely digested. But if it is clearly undigested, it is of concern. One thing could be such rapid transit-as occurs with diarrhea-that proper digestion doesn't occur; malabsorption possible but food usually digested except for certain contents. If recurrent, see gastroenterologist.