Is it permissible for someone who inadvertently omitted the takbirat al-intiqal (the takbir said when moving between postures in prayer) not to perform the prostration of forgetfulness (sujud as-sahw)?

It is permissible to omit the prostration of forgetfulness for missing one of the transitional takbīrāt according to the majority of scholars. This is because, in their view, the transitional takbīr is a minor sunnah (definition) that does not necessitate anything [i.e., sujūd al-sahw]. Most jurists hold that the takbīr in prayer—other than the takbīrat al-ihram (definition)—is a sunnah, and prayer is not invalidated by intentionally or unintentionally omitting it. This is based on the prevalence of waswasah (obsessive whispering), doubt, and forgetfulness in the questioner's prayer and purification. The best cure for waswasah is to disregard it.