Thanks everyone!
I used the lowest red fuse (F31 - Fan Air Conditioning, Power Socket). I verified that the description is correct by taking it out and ensuring that the air conditioner actually stopped working when ignition is on.
I would not recommend using the topmost left fuse (F37 - System Power Forward Collision Warning Plus, All Wheel Drive (AWD), IPC, Central stack switches, Brake Pedal Switch (NC)). According to its description it is important, and I would not want to interfere with its operation.
What I did not 100% check (and would be happy if someone could enlighten us) is what is the "hot" side of fuse F31 socket. It is possible to connect the piggy-back wire the wrong way, so I hope I got the right orientation. I only tested socket F47 which is on the right column, and forgot to double check F31 socket).
I attached some pictures that show where is the fuse box, how I tapped the F31 fuse, how I got ground connection and where I stored the hardwire kit itself (aka the 12V to 5V converter) and its remaining cables.
The hardwire kit is from VIOFO. There are two versions, one with just two wires, and one with 3 for cameras with parking mode. In general, when choosing a kit I recommend going with a known brand - it should withstand the heat and vibrations. VIOFO should be good from what I have read online.