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In the model you describe, the cusp $\infty$ of $X_1(N)$ is not defined over ${\bf Q}$ (but the cusp $0$ is). A way to see this is that the marked elliptic curve $({\bf C}/({\bf Z}+\tau{\bf Z}),1/N)$ is isomorphic to the marked Tate curve $E_q=({\bf C}^\times/q^{\bf Z},e^{2\pi i/N})$ with $q=e^{2\pi i\tau}$. When you let $\tau \to \infty$, you get $q \to 0$ so that $E_q \to ({\bf G}_m,e^{2i\pi/N})$, which is not defined over ${\bf Q}$. This fact is explained in Diamond-Im, Modular forms and modular curves, see 9.3.5 and 9.3.6.

There is an alternative model $Y_\mu(N)$ classifying elliptic curves $E$ together with a closed immersion $\mu_N \hookrightarrow E$ (see loc. cit. 8.2.2). In this model the cusp $\infty$ is defined over ${\bf Q}$, so it gives an affirmative answer to your second question.

You can switch from one model to another with the Atkin-Lehner involution $W_N$, which becomes an isomorphism defined over ${\bf Q}$ it is only defined over ${\bf Q}(\mu_N)$ when considered as an involution of either $X_1(N)$ or $X_{\mu}(N)$. But I don't see a nice way to characterize those functions which are rational for the canonical model in terms of the $q$-expansion at $\infty$.

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In the model you describe, the cusp $\infty$ of $X_1(N)$ is not defined over ${\bf Q}$ (but the cusp $0$ is). A way to see this is that the marked elliptic curve $({\bf C}/({\bf Z}+\tau{\bf Z}),1/N)$ is isomorphic to the marked Tate curve $E_q=({\bf C}^\times/q^{\bf Z},e^{2\pi i/N})$ with $q=e^{2\pi i\tau}$. When you let $\tau \to \infty$, you get $q \to 0$ so that $E_q \to ({\bf G}_m,e^{2i\pi/N})$, which is not defined over ${\bf Q}$. This fact is explained in Diamond-Im, Modular forms and modular curves, see 9.3.5 and 9.3.6.

There is an alternative model $Y_\mu(N)$ classifying elliptic curves $E$ together with a closed immersion $\mu_N \hookrightarrow E$ (see loc. cit. 8.2.2). In this model the cusp $\infty$ is defined over ${\bf Q}$, so it gives an affirmative answer to your second question.

I don't see a nice way to characterize those functions which are rational for the canonical model in terms of the $q$-expansion at $\infty$.