Is Sujūd as-Sahw (prostration of forgetfulness) obligatory if one does not recall performing the transitional takbīrāt during prayer?

The takbirat al-intiqal (transition takbirs) are a Sunnah according to the majority of jurists; prayer is not invalidated by intentionally or unintentionally omitting them. However, they are obligatory according to the Hanbalis: prayer is invalidated by intentionally omitting them, and a prostration of forgetfulness (sujud al-sahw) is required for unintentionally omitting them.

The Hanbalis differed regarding one who doubts having omitted an obligatory act, such as the takbirs:

Ibn Hamid said: No prostration is required of him, because he doubts its cause. Al-Qadi said: It is possible that prostration becomes obligatory upon him. The relied-upon position in the Hanbali school is: No prostration is required in this case.

Doubt is considered for one who does not frequently experience doubts. As for one who experiences many doubts, they are not required to perform prostration and should disregard these doubts.