The infinities arise at the limits of the position~momentum dichotomy. So as you try to locate a mass particle to a point, or even a scrap of "vacuum", you get infinite (or rather Planck-scale) quantum jitter. Likewise if you try to move a mass particle at the speed of light, you get an infinite (or again Planck-scale?) swelling in size, slowing in time.
The infinities are evidence of there being a position~momentum dichotomisation in which two limits are being asymptotically approached.
The comoving observers issue is just about the fact that "simultaneous" observers would be at rest with each other - so all the accounting done in terms of location, momentum factored out of the story for simplicity. Then with relativistic spacetime, a formula for re-introducing the motion as required.
The interesting question is why did it seem natural to set the three spatial dimensions as the simple ones, and time be complex?
Location = stable existence. For something to be located, it is also implied that it will linger long enough to matter (unlike a virtual particle say). So it may also exist in time, but this existence is inertial. The particle travels freely without need of a force to keep it moving forward in time at a "constant" rate.
So perhaps there is more complexity in the idea of spatial location after all. It is assuming inertial existence (or in the case of the void, inertial non-existence).
Then there is also the implied property of locality. It takes time for effects to propagate across a space. So two located objects are isolated until they have had time to interact.
Again, the property of "being located" is more complex than first meets the eye. Once you step back to a spacetime block perspective where position and momentum are values to be assigned in yo-yo, dichotomistic, fashion.
But still, the Newtonian view was to make things simple. Start with existence (locateness) and then introduce motion. This seems obvious in a world of mass where an inertia of existence is something that can be taken for granted (for protons and electrons at least) but momentum is variable (between the asymptotic limits of absolute rest and light speed).
The reverse case would be to take a motion as basic, primal, and existence as variable between limits.
This might be the more natural reference frame for a pre-Higgs realm where there is no mass and only a flood of massless particles. Now you could be certain that all particles travel at the same speed - the speed of light. So at least one of the complex temporal variables drops out of the picture. Though you still have variable direction for the particles. Perhaps (given the heat) you have less stability of existence?
Of course now you also have to deal with the idea that at light speed, time is frozen (for the particle concerned).
Excuse my rambling, but you can appreciate the basic point. Measuring anything demands that one end be pinned down as the background and then the wriggling of the other end can be observed. Choice of whether location or motion is treated as the fixed ground it just that, a choice. But they are the pair of alternatives that do extremitise the situation. They are a natural fundamental dichotomy.
Then we have the notion of a dimension arising as the description of these natural limit states. A simple model would treat the emergent results as "a degree of freedom". A complex model would see that the freedoms arise within a context of constraint.
So a simple model would treat reality as atomistic. An atom exists at a location freely. It's persistence is not being caused (so its existence is inertial and involves no "accelerations"). And the same is assumed for the void. It is a collection of locations that exist freely with no need to be caused as empty places. The complexity of the further property of locality (the fact that any two atoms are spatiotemporally separated and so it takes time for effects to propagate) is only implied in the dimensional description.
But the bigger picture of dimensionality would have to take into consideration that degrees of freedom arise within a context of constraints. The ancient atomists could assume that atoms and void were eternal and uncreated. But modern cosmology demands some story on how existence (of both atoms and "voids") came to be.
Oh, one further obvious point. The universe expands "freely". So that is another way Newtonian static spatial dimensions actually have a more complex dynamism. It would be interesting to have a model of dimensionality that incorporates this complex property - and this is where fractal and scale-free network approaches may have promise.
Atoms - lumps of mass - are interesting because they can travel (change location) at a range of speeds between rest and lightspeed. But even the void moves at all rates between rest and lightspeed (and superluminal once over the event horizon). The difference with the void is that the rate of motion/expansion is a single coherent one - the Hubble flow.
So dig beneath the apparent simplicity of the spatial dimensions and you discover plenty of complexity. It is a particular modelling choice to make location the simple idea and bin all the complexity in the notion of motion (for both atoms and voids).