Is prayer valid when the lips and tongue are moved during recitation without صوت (uttering a sound), and must it be repeated?

Scholars differ on the condition of the reciter hearing himself during recitation. The majority of them (Hanafis, Shafi'is, and Hanbalis) stipulate this, while the Malikis and some Hanafis and Hanbalis hold that merely moving the tongue is sufficient. Accordingly, you may emulate the opinion that validates your prayer if you did not hear yourself in the past, especially if that was due to ignorance or forgetfulness, as this is for ease and to remove hardship.