Is the prostration of thankfulness (sujud al-shukr) considered an innovation (bid'ah) if performed after completing a missed prayer, or reciting the daily litany, or after repenting from practicing a habit?

Prostrating in gratitude (sujud al-shukr) after being granted success in an act of obedience is not prescribed, because it was not reported from the Prophet (peace be upon him) or the early Muslims (Salaf). Rather, it is prescribed when a great and sudden manifest blessing occurs, or when a calamity is averted, as the Prophet (peace be upon him) did when he was given glad tidings of something that pleased him, or when Hamdan embraced Islam. Prostrating in gratitude is not prescribed for the continuation of blessings. It is also not permissible for someone to voluntarily perform a prostration without a cause that necessitates a prostration of gratitude, as that would be an innovation (bid'ah).