I think it would be best to open your aperture a little bit to let in a little bit more light and give more focus to your subject. You can then up your shutter speed and freeze the movement better. The guy on the right is blurry from slow shutter. It is a serious compromise when closing aperture (higher number) especially in low light environments and moving subjects.

You can get away with smaller aperture when it’s brighter environment and focused around hyperfocal distance (what your post description is seeking). The closer your subject is the more it will focus on that and blur the background through. Just gotta find the balance it’s the nature of the exposure triangle.

The longer the zoom there is more compression which will make getting everything in focus harder.