I don't know that camera, but I have been thinking about optics for 40 years. Borrowing a friend's lens seems a great way to trouble-shoot the problem. I bet the lens is normally capable of razor-sharp negatives. Your method of shooting at infinity is a good one, too. The viewfinder screen may be out of place - although you have wisely bypassed that cause by your infinity method.
Is it possible that the lens isn't in the designed location? - i.e. slightly ahead with a mis-fitted lens attachment flange, for example. It must be small distance if that is the problem.
Perhaps the lens requires an overhaul. I can imagine something being amiss there, without knowing exactly what it might be.
Looking at the negatives with a magnifier should remove any doubt of sharpness. With my Rolleicord, on ACROS film, I photographed my daughter's boyfriend, on his bike, from about 12 feet away. I could see a myriad of his leg hairs on the negative, and these didn't survive [low-cost] scanning and digital printing.
Is it possible that the film isn't in the correct place? A few thousandths of an inch error and images would not be sharp. If you could borrow a ground glass, and hold it against the film guide rails, that will show if the lens is forming the image in the correct plane.
I imagine that when you solve the problem, the negatives will be stunningly sharp. My best wishes.