What is the interpretation of the the disparity between the command to wipe the feet in the ablution verse in Surat Al-Ma'idah and the Prophet's Sunnah of washing them, and are my prayers invalidated if I erred in my independent judgment?

Muslims have unanimously agreed on the obligation of washing the feet in ablution (Wudu'). Only a few, whose opinions are not considered, have differed on this, such as the Shiites, Muhammad ibn Jarir, and the Zahiri Jubba'i. Those who advocate for wiping the feet base their argument on the reading of "wa arjulikum" (وَأَرْجُلِكُمْ) with a kasra (genitive case), linking it to wiping. However, the majority relies on the authentic and widely narrated Hadiths that describe the Prophet's (peace be upon him) ablution, stating that he washed his feet. Among these is the Hadith, "Woe to the heels from the Fire." Al-Nawawi concluded that washing is obligatory. A Muslim must wash his feet in ablution, and he must repeat the prayers in which he did not wash his feet, because no one is permitted to exercise ijtihad (independent reasoning) concerning the Qur'an and Sunnah unless they are among the accomplished scholars.