Hiero said:
In particular, is space itself initially infinite with all matter localized?
No, if space is infinite, then there is also infinite amount of matter, spread throughout that infinite space throughout the history of the universe. There's never a point in time when matter coalesces into a point in space, leaving empty space behind - on a contrary, the earlier in time, the more uniformly spread it is.
That uniformity is there with finite space too.
Or is space itself taken to be expanding from a point too?
There is no point to expand from. The only thing that qualifies as a point in that infinite space-time you described in the OP is the temporal point - the beginning. The spatial part always was infinite if it is infinite now.
Is space really any different than the set of distance relations between matter?
No, there's no practical difference. Not in the context of expansion of the universe, at least. Whenever you hear about space expanding, it's equivalent to saying the distances between objects are increasing.
Hiero said:
What I really want to know is, in models which do have a beginning (like “FRW”?) how does time begin?
Now, this question seems to be talking about something different than your follow-up questions. In the follow-up you were asking about how the universe looked like at the beginning. This appears to be asking how did the time start, as in what happens that the time starts flowing or has a beginning at all.
The answer would be that in the standard model there is no answer. There is a singularity at t=0, which 1) means that the model doesn't ever reach t=0, so it can't tell you what happens there (the temporal boundary is not a part of the space-time) 2) suggests that the model stops being valid sometime before that, and one would need some additional physics to either extend the temporal scale or describe the singularity region.
From what I read, in the second category there is e.g. the Hartle-Hawking theorem, which attempts to eliminate the singularity (time stops being distinguishable from spatial dimensions at some point in the past - but it's beyond my ability to understand in more detail). In the former category, there is e.g. inflation or bounce cosmology, both of which are in some sense eternal.