Is it permissible to supplicate with the words: "O Allah, guide us and all peoples (or 'the worlds')"?

It is permissible to supplicate for guidance for oneself and for Muslims during the supplicant's lifetime. It is also commendable to desire guidance for all people and to strive for it. However, it is not permissible to supplicate for guidance for all mankind or for all people, as this contradicts what Allah has revealed in His Book concerning the existence of both the wretched and the blissful, and that Hell will be filled with jinn and humans alike. Supplicating for something that Allah Almighty will not do constitutes an transgression in supplication.