Asalamu Alaykum Ustadh, If someone doubts during the prayer about a rukn, but his predominant assumption is that he already did it, so he does not repeat the rukn, is sujood as-sahw required purely because the doubt itself happened? How about for wajibat as well?

Ustadh AbdulAziz al-Haqqan

He make sujud assahw