Hi James.
At 21mm and f/8, your
depth of field is huge. So long as you can keep your boots out of frame, focusing to infinity should work just fine on anything much further away than that.
I have the same cameras and mostly use auto-focus. The only
lens I routinely use MF for is the 24mm
Canon tilt/shift (which is of course manual focus anyway). But I don't use that one much.
I'm not sure that my eyes are really
sharp enough to use manual focus these days - mind you, I tend not to use my wide
lenses for landscapes all that much (16-35/4, 24/TS-E, plus the delightful but ancient little Tokina 10-17 fisheye zoom, which only works on crop bodies), preferring the 24-105/4 and the 100/400 as a rule. So with those
lenses focus accuracy becomes more tricky (because of the focal length) and easier (because most scenes are at infinity anyway, even at 300mm).
From time to time I take off the trusty 24-105 - believe it or not I've had it for 17 years and never replaced it because no manufacturer seems to have bothered making anything which is, all things considered, better - and use my primes: mostly 35/1.4,
Tamron 85/1.8, and 100/2.8 macro. (I have a couple of others but those are the ones I use.) As it happens I used the 100 macro for some landscaping just today. Are they sharper than the 24-105? I've never tested formally, but I think so, yes. I should use them more often.