Are there any established and authentic supplications from the Prophet (PBUH) for the servant's protection during the terrors of the Day of Judgment, such as the Gathering (Mahshar), the Reckoning (Hisab), and the Bridge (Sirat), or is the matter of supplication unrestricted?

The reason for a servant's salvation and security amidst the horrors of the Day of Judgment is faith, righteous deeds, and constant repentance and seeking forgiveness, as confirmed by His Almighty's saying: ﴿Those who believe and do not mix their faith with injustice – those will have security, and they are [rightly] guided﴾, and His saying: ﴿Unquestionably, [for] the allies of Allah there will be no fear concerning them, nor will they grieve, Those who believed and used to fear Allah.﴾ Among the righteous deeds is supplicating for salvation. The Prophet (peace be upon him) and his companions often revolved around asking for Paradise and salvation from Hellfire. The Prophet (peace be upon him) approved of supplicating for salvation with any lawful wording. There are also authentic supplications for seeking well-being in the Hereafter, seeking refuge from the torment of the grave and the trial of death, and asking for mercy and protection from punishment at the time of resurrection.