It is impossible to publish "Sharepoint List Form" compatibility/type Infopath template to more than one list
You can "centralize" and automatize (make a script at Windows level to a manual procedure I gave below) to restricting changes just to one template (in Infopath Designer 2010), and after making changes in one, to "replicate" the template's copy (or copies) adjusting them to a different publishing location, see answers to Infopath change Publish Location question:
- save template locally also under another name (make copy of template) > export source files, change all enclosed URLs in manifest.xsf (and probably view*.xsl) file(s) in XML editor > open and (save+) publish adjusted for another publishing site/location copy of template
Upon making changes in order to republish you should open manifest.xsf in Infopath Designer 2010.
For this, open it by right-clicking in Windows Explorer on it and choosing Design.
Otherwise, open Infopath Designer 2010 and on ribbom navigate File > Open > navigate to directory with manifest.xsf
This is not straightforward procedure. One should make the procedures manually first comparing the exported source files.
You will also need the ListID of the list which you can find by righ-clicking on, for example, Add new item link and finding/replacing sharePointListID in exported files.
I re-asked this question in infopathdev.com in thread:
where the qualified Infopath professionals answer