Detailed post with additional posts and infinite scroll

Is it possible to make post.hbs with details of the post and for example related posts and have infinite scroll enabled? If so, what’s the ways to do that?

I have seen limitations of get and also throughout the forum everyone were standing for dynamic routing to implement something like this. But I couldn’t make it work with collections and channels either.

Because, it’s not a distinct route with collection of posts, every post should contain related posts, but as I understood, channels doesn’t affect url, but they also work for subset of data and specific url.

routes:
  /apple-news/:
    controller: channel
    filter: tag:[iphone,ipad,mac]
routes:
  /apple-news/{slug}/  // can't do smthing like this
    controller: channel
    filter: tag:[iphone,ipad,mac]

I have been using casper theme and infinitescroll.js.
Example of post.hbs:

...
{{#get "posts" limit="all" filter="id:-{{post.id}}+tag:{{post.primary_tag.slug}}" as |relative|}}
    {{#foreach relative}}
    {{/foreach}}
{{/get}}