We explore the class of triples (M, nabla, P) where M is a manifold, nabla is an affine connection in M and P is a G-structure in M. Inside this class there are infinitesimally homogeneous manifolds, characterized by having G-constant curvature, torsion and inner torsion. For each matrix Lie group G subgroup of GL(Rn) there is a class of infinitesimally homogeneous manifolds with structure group G. In this paper we characterize the classes of infinitesimally homogeneous manifolds for some specific values of the structure group G including: identity group, finite groups, diagonal group, special linear group, orthogonal group and unitary group.