BAD : Angelo took us to a typical restaurant.
GOOD : Angelo took us to a typical Italian restaurant.
After typical you usually mention the exact group to which someone or something belongs: 'McGarron looked like a typical American car salesman.' 'The old fireplace and the few pieces of typical Basque furniture give the room a homely atmosphere.'
BAD : After dinner it is typical to sing carols.
GOOD : After dinner we usually sing carols.
GOOD : After dinner it is customary to sing carols.
When you are talking about what usually happens at a particular time of the year, use usually or (especially in formal styles) customary : 'It's customary to kiss the bride.'