Is the Muslim's saying immediately after waking up: "We seek Allah's help in hardship" considered an innovation (bid'ah), and is one sinful for saying it?

Acts of worship are based on divine command (tawqif), and the recommended supplication is the prescribed supplication, for the Prophet, peace and blessings be upon him, said: "Let each of you choose for himself the supplication most pleasing to him, and then supplicate Allah, the Exalted and Glorified." However, that which falls under the category of unrestricted supplication cannot be restricted to a specific time, state, place, or number, and taking that as a regular sunnah, except with a legal proof. Thus, restricting a general matter to something specific in terms of time, place, state, or action requires a proof, otherwise it would be an innovation (bid'ah). And there is no good innovation in Islamic law.