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Joining a congregation prayer is allowed in every Rak'ah till before the Imam of Jama'ah raises his head from Rokoo'. If you join during Qiyaam (Standing) or Rokoo', it will be counted for you as a Rak'ah.

We are not allowed to join congregation prayer after Rokoo' except in the last Rak'ah just to get the reward of the congregation prayer but it will not be counted as a Rak'ah.

Wassalam.

If you are in hurry and can't wait till Jama'at starts, you can pray individually (Furada) but it should not send a wrong message of disrespect to the Imam of Jama'at or to the participants who are waiting to join the congregational Prayer.

Wassalam. 

It is not allowed during obligatory Prayer (Salah) to add Rokoo' or  Sojood because it will invalidate the Salah. Reciting any of the four verses of obligatory Sajda is not allowed in obligatory Salah. If you do Sajda for reciting or listening to any of the four verses of obligatory Sajda, you Salah becomes invalid and you need to perform the Salah again. 
Wassalam.

Bismillah

Thank you for your question. One of the conditions for a prayer leader according to the School of Ahl al-Bayt (as) is that they are baligh. If they are not baligh, that prayer cannot be lead by them and so if someone participated in that prayer they will need to repeat it.

May you always be successful