Can one perform a make-up prayer immediately after the 'Asr prayer?

There are three times when the Prophet, peace and blessings be upon him, forbade praying: after Fajr prayer until the sun rises and is elevated by the measure of a spear, at the time the sun is at its zenith (before Dhuhr), and after Asr prayer until sunset.

As for making up prayers (qada'), it is performing them after their prescribed time has elapsed. If the prayer being made up is an obligatory one, delaying it without a valid excuse is forbidden. However, if the delay was due to an excuse such as sleep or forgetfulness, it is obligatory to make it up immediately once the excuse is gone, even if that falls within the prohibited times. If the prayer being made up is a supererogatory one (nafilah), the majority of scholars hold the view that it is permissible to make it up during the prohibited times as well.