It really depends on your lens focal length and your focus target.
Generally my astrophotography is with a wide or ultrawide lens if I include the landscape. Even at f/2 to f/2.8 or faster, there is a huge DOF. Hyperfocal distance may be 10-15 feet away, so you don't need to be too picky. BUT - if I want to photograph star pinpoints, I use the approach DR mentioned and focus on a bright star or planet. If I want a subject that is closer - which is uncommon - I might focus on a distant campsite, a street lamp, or a headlight. Beyond that - for really close foreground elements, I'd use hyperfocal and focus at 8-12 feet away or closer.
The other extreme is photographs of the moon or similar subjects using a long lens. There you need a lot more precision. I'll still use a fast aperture - f/4 or faster if possible to keep the shutter speed up. I'll typically use AF with Live View focusing on the edge of the moon. That's a high contrast target and while round, the roundness does not matter. If it's a low light image such as a lunar eclipse during totality, I'll use Pinpoint AF with Low Light AF on my Nikon Z cameras. The last time I photographed a complete lunar eclipse, I stopped using my D850 and just used my Nikon Z6 because AF was so much easier with an EVF.
In both cases, once you have accurate focus achieved, you don't need to focus again or adjust focus. But in practice, I'd never do that. It's too easy to have an AF error. I was at Mesa Arch a few years ago and another group was just finishing an all night astro session. As they were packing up from their last set of images, a girl in the group shouted to the others that all of here images were out of focus. Apparently the AF had been changed by mistake and her entire set of long exposure images over the past couple of hours was out of focus.
