I would agree that its best to get the demand higher than the minimum output, the boiler makers themselves were well behind the curve in getting their minimum outputs lower while weather compensation, zoning, house insulation, years ago, were leading to demands as low as 2.5 to 3kw.
However most boilers can deal with this cycling, bearing in mind that evohome and others awitc the boiler off and on up to 6 times/minute to give pinpoint control of room temperatures but Vaillant for the reason I gave above have the greatest difficulties, they may have changed this 60 sec hold on combustion conditions now though?.
You are better off by having a high flowrate through the rads/boiler and reducing the flowtemps to give you the same low rad output as with TRV'v but this means a far better chance of getting the boiler away after a burner reset.