The LSZ formula is based on the following assumptions:
There exists a vector $|\Omega\rangle$ that satisfies $P^\mu|\Omega\rangle=J^{\mu\nu}|\Omega\rangle=0$.
The field transforms according to a certain representation of the Poincaré Group, that is, it satisfies
$$
U(a,\Lambda)\phi(x)U(a,\Lambda)^\dagger=D(\Lambda)\phi(\Lambda x+a)
$$
where $a\in\mathbb R^4$ and $\Lambda\in SO(1,d)^+$, and
$$
U(a,\Lambda)\equiv\mathrm e^{-iP_\mu a^\mu}\mathrm e^{-i\omega_{\mu\nu}J^{\mu\nu}}
$$
There exists a certain vector $|\boldsymbol p,\sigma\rangle$ that satisfies $P^\mu|\boldsymbol p,\sigma\rangle=p^\mu|\boldsymbol p,\sigma\rangle$ such that $m^2\equiv p^2$ is an isolated eigenvalue of $P^2$.
The field $\phi(x)$ satisfies $\langle \Omega|\phi(x)|\Omega\rangle=0$.
The field $\phi(x)$ satisfies $\langle \Omega|\phi(x)|\boldsymbol p,\sigma\rangle \neq 0$.
Some other assumptions that are irrelevant for this post (e.g., if the system has a well-defined notion of charge conjugation, then $\phi(x)$ has to commute with $\mathscr C$, and similarly for other internal symmetries).
If $(2)$ is satisfied, and $D(\Lambda)$ is a non-trivial representation of the Lorentz group, then $(4)$ is satisfied automatically; i.e., one need not impose this assumption as a separate condition. Therefore, in this answer we will restrict ourselves to trivial representations of the LG, that is, the scalar representation, where $\phi(x)$ is a scalar field.
In the case of scalar fields, $\langle \Omega|\phi(x)|\Omega\rangle$ is Lorentz invariant regardless of whether it vanishes or not. But we do need to make sure it vanishes, because $(4)$ is a necessary condition for the LSZ formula. Therefore, in order to make sure it vanishes, we note the following: as discussed in the OP, this number satisfies
$$
\langle \Omega|\phi(x)|\Omega\rangle=\langle \Omega|\phi(0)|\Omega\rangle
$$
Therefore, if for some reason $\langle \Omega|\phi(x)|\Omega\rangle$ is non-zero, we redefine the field $\phi(x)$ through
$$
\phi(x)\to\phi(x)-\langle \Omega|\phi(0)|\Omega\rangle
$$
which doesn't spoil any of the conditions $1,2,3,5,6$ provided they were already satisfied by the original field, but it ensures that $4$ is satisfied, by construction.
As for the second condition, the argument is as follows: if we use $\langle \Omega|U(a,\Lambda)=\langle \Omega|$ and $U(a,\Lambda)^\dagger|\boldsymbol p\rangle=\mathrm e^{ipa}|\Lambda\boldsymbol p\rangle$, then we can always write
$$
\begin{aligned}
\langle \Omega|\phi(x)|\boldsymbol p\rangle&=\langle \Omega|\overbrace{U(x,\Lambda)U(x,\Lambda)^\dagger}^1\phi(x)\overbrace{U(x,\Lambda)U(x,\Lambda)^\dagger}^1|\boldsymbol p\rangle\\
&=\overbrace{\langle \Omega|U(x,\Lambda)}^{\langle \Omega|}\overbrace{U^\dagger(x,\Lambda)\phi(x)U(x,\Lambda)}^{\phi(0)}\overbrace{U(x,\Lambda)^\dagger|\boldsymbol p\rangle}^{\mathrm e^{ipx}|\Lambda\boldsymbol p\rangle}\\
&=\langle\Omega|\phi(0)|\Lambda\boldsymbol p\rangle\mathrm e^{ipx}
\end{aligned}
$$
If we now set $x=0$, we see that this implies that
$$
\langle\Omega|\phi(0)|\boldsymbol p\rangle=\langle\Omega|\phi(0)|\Lambda\boldsymbol p\rangle
$$
i.e., the matrix element $\langle\Omega|\phi(0)|\boldsymbol p\rangle$ is a scalar; but the only scalar function of $\boldsymbol p$ is $p^2=m^2$, and therefore this matrix element is just a constant, independent of $\boldsymbol p$:
$$
\langle \Omega|\phi(x)|\boldsymbol p\rangle=c\, \mathrm e^{ipx}
$$
Finally, if, as in $(5)$, we assume that $\langle \Omega|\phi(x)|\boldsymbol p\rangle \neq 0$, then $c\neq 0$ and we can always redefine $\phi(x)$ so that $c=1$; and, as again, this doesn't spoil any of the conditions $1,2,3,4,6$.