What is the ruling on the prayer of one who performs tayammum fearing the expiration of the time, if it becomes clear to him that there was sufficient time for wudu'?

The majority of scholars hold the view that if someone finds water but fears that using it would cause the prayer's time to expire, they should perform ablution (wudu') or a ritual bath (ghusl) even if it means performing the prayer after its prescribed time. However, some Malikis and Zufar from the Hanafis preferred the opinion that one should perform tayammum (dry ablution). According to the first view, the prayer of one who acts in this manner is invalid and must be repeated according to the majority of scholars, unless they were ignorant of the ruling, in which case some scholars accept ignorance as an excuse. According to the second view, their action is valid and they do not need to repeat the prayer.