Its been discussed here already,try the search function.
Previous aircraft is vacating the runway, and the runway can be clearly seen is a go around mandatory at the minimum ?
What you mean by minimum?Are you refering to precision approach?In that case the answer would be NO?
A go around can be initiated any time until reversers are deployed,however it is not recommended to go around below 50 ft and thrust idle as it is rarely practiced,and due to thrust spool up time.It becomes a risk management area,where the pilot needs to manage whether a balk landing is safer than a continued landing,i honestly would balk land as it is a maneuver that it is not that difficult if trained and practiced during recurrent training.
If you are cleared to land and the runway is being vacated,no need to go around.
My airline minima for a late landing clearance is 50 ft.