The Axiom of infinity is colloquially defined as:
There exists a set X having infinitely many members
(see Wikipedia)
In the language of first-order logic, it's convention that the following statement is the simplest solution to the axiom.
$$\exists X[\emptyset\in X \wedge\forall y(y\in X \implies (y\cup\{y\})\in X)]$$
Notice that I've swapped out $S(y)$ for $y\cup\{y\}$ as $S(y):=y\cup\{y\}$
One fellow mathematician, bof, in the comments of the answer to this question, asks why isnt the following statement a more simple solution?
$$\exists X[\emptyset\in X \wedge\forall y(y\in X \implies \{y\}\in X)]$$
To which, Asaf Karagila, responds:
No, because the language is more complicated.
Of course, not to discredit Karagila, I am assuming there is a more rigorous argument than the complication of the language. Regardless, bof's solution seems less complicated as it only withholds the operation of the union, while adding nothing else.
It's clear that both solutions produce infinite sets. Why is the latter not more simple?
First let me clarify my comment, $\{x\}$ is not in the language of set theory. The language of set theory uses the braces as a crude shorthand. Instead, $\{x\}$ is a shorthand for $\forall y(y\in\{x\}\leftrightarrow y=x)$. This means that to talk about $\{x\}$ one needs to say $\exists z(\forall y(y\in z\leftrightarrow y=x)\land\dots)$, because $\{x\}$, as we said, is not part of our formal language.
When you take bof's suggestion and unpack everything, the result is not significantly shorter. It also has the slight problem that the inductive set we get is the limit, in some sense, of $\varnothing,\{\varnothing\},\{\{\varnothing\}\},\{\{\{\varnothing\}\}\},\dots$ and one might expect it to simply be $\{\dots\{\varnothing\}\dots\}$, where the ellipsis here denote an infinite amount of braces. And that's wrong.
Regardless of that, the Axiom of Infinity is not saying that $\omega$ exists, or that some von Neumann ordinal exist. It states that there is a set with a simply defined property: being an inductive set.
The smallest such set is provably $\omega$, which is why we often thing about the Axiom of Infinity as simply stating "$\omega$ exists". But that is not what it says. The question you link asked why can't we instead postulate something like $\Bbb R$ exists, and the answer is that the property of being inductive is simple, whereas the property of being $\Bbb R$ is not even part of the language of set theory, and while we can formalise a canonical copy of $\Bbb R$, it requires a lot more than stating the existence of inductive sets.