Define “f(x)” is an infinitesimal if lim f(x)=0 when x-> 0.
which is the same as saying “f(x)” is smaller in absolute value than any real number.
Nothing more.
The problem: you cannot divide by infinitesimals. Now you need to “create a field” from these numbers and the reals.: this requires the axiom of choice. There is also the sign problem.
But in the end, “that is all you neeed”. You think of infinitesimals as “numbers smaller than any true real number”.