What is the ruling on delaying prayer—especially Dhuhr and Asr—with the intention of catching congregational prayer for someone who did not do so intentionally?

Scholars have differed regarding what is superior: praying at the beginning of its time individually, or at the end of its time in congregation? Some preferred the former, while others preferred the latter. The chosen option is to pray at the beginning of the time individually, then repeat it in congregation if possible, citing the Prophet's (peace be upon him) hadith to Abu Dharr. However, if the worshipper restricts himself to one prayer, and he is certain that a congregation will be available at the end of the time, then delaying is better to attain the congregation. It must be noted that it is not permissible to delay the Asr prayer beyond its optional time (until the sun turns yellow), nor is it permissible to delay a prayer beyond its prescribed time for the sake of congregation.