Is it permissible for a person on their deathbed to supplicate: "O Allah, forgive me, have mercy on me, and join me with the Most Exalted Companion"?

The supplication mentioned, "O Allah, forgive me, have mercy on me, and join me with the Most Exalted Companion," is authentic. The Prophet, peace and blessings be upon him, recited it before his death while he was reclining. It is permissible to recite it when death is imminent, but it is forbidden before that because it constitutes wishing for death before its arrival.