Without a scale you need to AF on something at an infinite distance.
Infinity distance varies with focal length but with that lens even at 55mm it should not be too far away so try the furthest lamp post or chimney pot or something, then switch the lens to manual focus and it's set. Put a mark on the barrel for future reference.
For absolute infinity with any lens, the moon is handy
Edit: live view is very good for critcal focusing.
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