In my opinion I think it is a good idea to get stamping done for kids. If they have to travel before they get the physical card, it is helpful particularly in our scenario where our (parents') card arrived but yet to receive kid's and dont know how long it would take. And you can apply for ssn with the stamp and dont have to wait for the card.
Not sure whether separate infopass appt is necessary but we took a separate one for our kid as I did not have a clear answer for the same question.
I think parents can take kid's passport and passport-size pictures and get it stamped. It's not mandatory, but better to get stamped because stamping is the only proof of legal immigration status in USA - until he/she receives plastic card.
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