If I wake up after the ‘Asr call to prayer, should I wait for the iqamah or pray Dhuhr? And should I pray Dhuhr after ‘Asr if I wake up a few minutes before the iqamah?

If you wake up before the time for Asr prayer, with not enough time for ablution and Asr prayer, then you have missed the Asr prayer. You must first make up the Asr prayer, even if it means missing the Isha prayer in congregation, in order to maintain the order between the missed prayer and the current prayer. However, if the time for Isha prayer becomes so short that there is only enough time left for it, then you must prioritize it. Scholars have differed on what constitutes performing a prayer on time and whether one is obligated to take measures to wake up from sleep.