I just tried it outside.
I used my RB-SD, 65mm K/L, 127mm K/L, and 180mm K/L. Subject distance is about 1/4 miles or 400 meters.
65mm focused with bellows racked in all the way. 127mm focused about 1/30th of a turn away from all the way in. 180mm focused 1/20th away. Essentially, they all focused at infinity all the way in or in marginal distance from it.
I'm thinking Mamiya lens may be unsuitable for OP's purposes though. The mounting plate to film plane distance is almost 5 inches. It'll be a really thick point and shoot camera.... Also, if OP plans to cover infinity focus with hyper focusing, then the film plane/lens distance where hyper focus will cover infinity will be different from lens to lens.
If there's anything I can test for you, please let me know.