First, all digital images need sharpening. A scan is a digital image, therefore it needs sharpening. Light and simple sharpening. High pass filter sharpening is actually nice for this kind of preliminary first step sharpening.
With an SLR, you are right, get screen and film aligned at one point and the rest will fall into place. The problem with any other system is that you need both the focus system and the imaging system to be exactly the same. So for a Leica, there are, I believe, 3 distances that you are supposed to set the focus, with adjustment points at each one. the assumption being that any variance at other points will fall well within tolerances.
With a TLR, the issue is that the viewing lens and taking lens could have different focal lengths. So no matter what distance you set at, the two lenses will drift apart if they are not exactly the same. How much and how fast and if it matters is subject to a variety of factors, such as how big the different is, or what depth of field will handle at different distances. I scabbed a pre-WWII 75mm onto an Autocord body with a 75mm viewing lens, but focus wouldn't follow over a large range. I set focus to match at 8 feet and accepted that I rarely shoot at winder than f/8 and it worked out fine.
The Kodak Medalist is a rangefinder, but there is not an adjustment on the cam response and the cam itself is linear in action. The Kodak repair manual says to set the focus at 15 feet (get rangefinder and ground glass in agreement), and that other spots will fall into place. Someone had me work on their camera and knew that he was going to be doing portraits so I set focus at 10 feet. I also checked it at 4 feet. Both points were in agreement with the rangefinder. It worked out well for him. I now do a standard 10 foot set point and confirm four feet. At longer distances, well, no complaints yet.
Infinity has a specific theoretical mathematical existence and practical phsical existence in optics. Other points introduce a variety of new variables. So 'infinity' travels well from lab to factory to neighborhood repair shop. And a factory level collimator provides obvious and clear feedback on hitting infinity, and being off in either direction.
Set your camera and focus screen wherever you want. Check other points. See what you can live with. Take a magnifier to your negatives directly if you aren't certain about what your scanning is doing to the focus and sharpness you see.