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Obligatory Sajda (prostration) must be done properly on the ground. Recommended prostration can be done in walking or walking  positions.

Wassalam.

The Prophet Muhammad (SAWA) never placed his forehead in Sajda but on clay or a material from the clay. He said: ( Earth is a place of my prostration and source of purification جُعِلَت لي الأرضُ مسجدا وطَهورا . This Hadeeth is narrated in Sunni books including Saheeh Al-Bukhari.

Placing palms, knees and feet must be on Taahir (pure) item but not necessarily on clay. This is according to authentic Hadeeths from the Prophet (SAWA). Details of these Hadeeths are mentioned in our jurisprudence books like Jawahir  Al-Kalaam and our Hadeeth books like Wasaa'il Al-Shia by Al-Hurr Al-Aamily.

'Wassalam.

Wassalam.

You should be still while reciting dhikr

No need to redo your Prayer for such minor acts during you Prayer because such minor acts never invalidate the Prayer.

Wassalam.