Is it obligatory to repeat prayers after finding guidance and learning the correct way to pray for someone who used to pray incorrectly or delay prayers beyond their prescribed times?

If you unknowingly omitted a condition or pillar of prayer, there is a difference of opinion among scholars regarding the necessity of re-performing the prayers. The more cautious approach is to make up the prayers (qaḍāʾ), which is the view of the majority of scholars, and we have explained how to do so. However, if the mistakes do not affect the validity of the prayer, then you are not required to do anything, nor are you obliged to repeat it. As for the prayers you performed after their prescribed time, your responsibility for them has been cleared, but you must offer sincere repentance for intentionally delaying the prayer beyond its time.