Debt and friction both accumulate, but debt must be "repaid" in a lump sum. If "technical debt" or "infrastructure debt" means your velocity is falling over time, it's friction, not debt.
Infrastructure debt would be something that is eventually going to cause everything to halt while you sort it out, and the longer you wait, the worse it will be. Not using source control is debt, because with near certainty you are going to have at least one major SNAFU requiring spelunking through backups to recover a lost file or to restore some prior release.
Developing without deploying at all is definitely debt, sooner or later you are gong to have to deploy.
OTOH, lot of "technical debt," isn't. It's just friction, and it takes some experience to know when it's a bad tradeoff.