Reading the BSCA abstraction rules in the more recent printing of BoT, it's explicitly stated that vehicles must make a Destroy Check upon taking 5 or more damage in a turn. However, no such threshold is stated for infantry. The sidebar example states that "even a machine gun" would cause a Destroy Check on infantry, but given that an MG is 2 damage (and is anti-infantry in the TW ruleset), it's not 100% clear whether the threshold for infantry is 2 damage or if it's "any damage whatsoever."
Based on the spirit of the example, I have to assume it's the latter, but as it's not explicitly stated anywhere I could see, I'd appreciate any clarification.