Should one awaken a sleeping person for a missed prayer after dawn, or leave them until they wake up on their own?

If you wake up after dawn (Fajr) but before sunrise (Shuruq), your prayer is considered performed on time (ada') and not a make-up (qada'). However, if you wake up after sunrise, it is recommended (mustahabb) to wake others who missed the prayer to perform it, but it is not obligatory (wajib) upon you to do so. Some scholars have held the view that if someone misses a prayer due to sleep until its time has passed, they are not obligated to pray it immediately upon waking, citing the narration of the Prophet (peace be upon him) and his companions sleeping through the Fajr prayer. As it has been clarified that one who wakes up after the prayer time has elapsed is not obligated to pray it immediately, it is even more so that they are not obligated to wake others to pray it.