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Actually I think the main reason that autofocus lenses will focus beyond the infinity position is that during the autofocus process the camera needs to be able to automatically move the lens past the focus position (ie "out of focus" -> "focus" -> "out of focus again") in order to determine where the correct focus position actually is. It needs to be able to do this even when the subject is at a distance of "infinity", hence the focus barrel can be moved beyond the infinity position when focussed manually.
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