What to do if a Wajib is missed in Salah?
If a Wajib is missed in Salah and Sajdah Sahw is not performed, or if a Salah is performed with Makruh Tahrimi, it is Wajib to repeat it (Wajib-ul-I'adah). However, this ruling to repeat is only as long as the time (for that prayer) remains. Upon the passing of the time, the obligation to repeat drops. Now, its compensation will be done through Istighfar (seeking forgiveness), but if it is repeated after the time has passed, it is better. (Aham Masail/Vol:2/Pg:105)