I don’t think the focus is the problem. In those pictures the far away parts of the picture are kind of sharp. Focusing to infinity would achieve the same, if that was the problem. I think it is more like, the far away parts do not move as quickly and therefore are less affected by the motion blur.
About general capture at night: For the following I uses OpenCamera, which allows manual settings, specifcally it allows to set the shutter speed and the ISO:
It worked, and it produced usable images. A bit grainy and fuzzy due to high ISO and strong postprocessing, but usable for mapping, sign recognition etc.
However I needed to adjust that manually all the time as it got darker. This could be easily provided automatically, but android somehow doesn’t want to: Shutter Priority?