I'll usually try to prefocus the camera on something that is the same distance away from the camera as I will be for the shot. Hope that helps a bit. If it's pics of you and your mates you should be able to just focus on one of your mates and then use self timer to get in and join the pic, as long as you are standing together you should have you all in focus.
Alternatively, get a IR remote release for your camera that has a 2 second timer.
That way, the camera focuses when you press the 2s, then you have time to loose the remote
Do you mean self shots from far away or with yourself holding the camera in one hand?
On self shots far away I´d go to manual focus, focus on the others already standing there and set the timer.
On shots where I hold the camera in my hand I choose autofocus: picture
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