Is it permissible to pray the Rawātib before Dhuhr and Asr after the Adhān and before the Iqāmah?

The pre-sundry (Qabliyyah) regular (ratibah) prayers are performed after the time for the main prayer begins and before the obligatory (fardh) prayer. It is permissible to perform them after the obligatory prayer if their time was missed before it. As for the post-sundry (Ba'diyyah) regular prayers, they are not valid except after performing the obligatory prayer. Voluntary (nawafil) prayers are of two types: regular prayers (rawatib) that are subordinate to the obligatory prayers (some of which are emphasized and some are not emphasized), and non-regular voluntary prayers such as the Witr and Duha prayers, and other voluntary prayers at specific times such as the Sunnah of ablution (wudu') and Istikhara. There are also voluntary prayers performed in congregation, such as the Eid prayers, Istisqa' (prayer for rain), Kusuf (solar eclipse prayer), and Khusuf (lunar eclipse prayer), and there are absolute voluntary prayers (mutlaqah) that are not restricted by a number.