Is praying upon the Prophet in the Tijaniyya manner permissible or forbidden, taking into consideration that it requires lifelong commitment except in cases of illness?

The prayer of the Tijaniyya is among the innovated dhikr (remembrance of Allah) with which it is not permissible to worship Allah. The Prophet, peace and blessings be upon him, warned against innovations (bid'ah), clarifying that every innovation is misguidance, and that Allah has withheld repentance from the practitioner of innovation.