Is the psychological struggle before doing something out of fear of committing a sin considered a reprehensible innovation (bid‘ah) by prohibiting what has not been prohibited, or is it a conflict between the self and Satan?

The psychological struggle, represented by a person's hesitation between doing and refraining for fear of falling into the unlawful, is not an innovation (bid'ah). Innovation is the introduction of a matter into the religion that mimics the divine law. Rather, this hesitation and careful investigation is legitimate for the Muslim because "a servant will not be among the pious until he abandons that which is not harmful, for fear of that which is harmful," and due to the saying of the Prophet, peace and blessings be upon him: "Leave that which makes you doubt for that which does not make you doubt."