Isn't focus shift with IR just a problem with a fixed-focus lens system as opposed to a camera that has to establish a slightly different focus at each and every zoom point anyway?
The problem will be with the way in which the correct focus point is assessed, it's auto-focus.
As we know with DSLR cameras, and point-and-shoot cameras, there have been multiple ways devised for electronically determining a focus position, with arguments on both sides which works best, or fastest.
An aspherical lens, by virtue of it's non-perfect-sphere shape, is able to refocus IR light automatically.
Precisely aspherical is how a lens should ideally be in order to be able to focus to a single point. Spherical lenses are an easy low-cost manufacturing method which compromises the fine focus. Fine on a low-res camera.
The aspect that mostly affects change in focus from visible to IR is chromatic aberration, the way that the refractive index of the lens material changes with wavelength when a single material is used.
The most common correction for this is to use multi-layer and multiple lenses of slightly differing materials.
Even the cheap camera lenses in IP cameras are multi-layered.
The better it works, the better the focus, the more precise and complex the manufacturing process must be. So it's the usual tradeoff between cost and performance.
That's why for HD cameras with their finer resolution you do need a better lens so that the lens does not become the limiting factor on image quality.