Perceptions of what is happening in the cabin often bear little relationship to what the pilots are seeing. The occupants of the cabin are subject to all sorts of illusions, which they aren't even aware of.
Rudder use would indicate crosswind, either on the ground on on the approach. It does not slow the aircraft down.
I expect that your version of a hard landing, and mine, are two very different animals. Passengers are lulled into thinking that smooth landings are desirable and normal. Not really the case at all, and there are many occasions on which a firm landing (with all drift intact) and lots of heavy rudder use after touchdown is actually the best outcome.
I'm sure the pilots did not go around because they saw no need to. They wouldn't care at all about the aircraft being late.
