depends on distance of subject. selecting infinity would be allowing for hyperfocal distances (everything sharp after this distance) if further away than 3m.
Bright sunlight: >4m (Camera chooses f/8 )
Decent light: >6m (Camera chooses f/5.6 )
Bright indoors: >8.5m (camera chooses f/4 )
Dark places: >12m (camera chooses f/2.8 )
Hope this helps.