It is common to tie together commons, so various controllers can share what they have in common (input and output voltage). For 24vdc, they can both float from ground and share a common, as long as they keep the signals connected to your inputs at the correct potential difference. If by vendor, you mean vendor of a part in your panel then sure, share the commons, ground them separately. Grounding a 24vdc system that has been running fine floating is not something I would advise.
I also agree with using relays or optos to maintain isolation for some cases, whole machines or sections, but for intra panel stuff like VFD inputs, you just wire their commons together, and connect PLC outputs to VFD inputs, as many as you need, so why not do this with any other properly referenced 24 vdc signal?
If by vendor, you mean separate machine or major section, then it is common practice to provide dry contacts or solid state relays for hard wired interfacing.