Nearly all lenses have infinity before the hard stop. I understand this is to allow for temperature changes, aging, and other factors.
I've had all the same lenses you mentioned (except the FA20 instead of the A20). As expected, it's especially important to get infinity right with the faster FA31/1.8 and K50/1.2 lenses - particularly since you may be using them at dusk or later. Typically I'll put the camera in MF mode and use Liveview long enough to set infinity correctly - then I'll go back to the viewfinder for most of the shots.
BTW, those who shoot the stars are often concerned about lens characteristics such a "coma." I don't (shoot the stars), but I know it might be worth looking at the Samyang 14mm lens, even if you wouldn't normally consider one (like I wouldn't). Also, the O-GPS1
may be of use to you
Review: Pentax O-GPS1 GPS Unit - Sample Astrophotography | PentaxForums.com Reviews.