Does the custom of reciting Hadith or reading from a book daily after Asr prayer, except on Fridays, fall under innovation (bid‘ah), or is it a commendable innovation (bid‘ah hasanah), especially considering this is a widely accepted practice and leads to criticism of those who disagree?

Reading prophetic hadiths and other Islamic sciences after or before the 'Asr prayer is permissible in Islamic law. Indeed, it is one of the best ways to draw closer to Allah Almighty. There is much evidence for this, including Allah Almighty's saying: "And say, 'My Lord, increase me in knowledge.'" There is no objection to suspending reading or lessons on Friday or any other day if there is no attendance, and there is no blame on whoever wishes to leave before the end of the lesson. Studying knowledge in mosques is from the guidance of the righteous predecessors and is not an innovation (bid'ah). Innovation is a newly invented way in religion that mimics what is legislated, whereas learning in the mosque is not invented.