See this claim mentioned here - https://www.al-islam.org/ahl-al-bayt-celestial-beings-earth-allama-husay...
In Sahih Muslim, the hadith al-thaqalayn is narrated as follows:
"Yazid b. Hayyan reported, I went along with Husain b. Sabra and 'Umar b. Muslim to Zaid b. Arqam and, as we sat by his side, Husain said to him:
Zaid. you have been able to acquire a great virtue that you saw Allah's Messenger (ﷺ) listened to his talk, fought by his side in (different) battles, offered prayer behind me. Zaid, you have in fact earned a great virtue. Zaid, narrate to us what you heard from Allah's Messenger (ﷺ).
A detailed explanation about the history of Imam al-Mahdi (aj) and his Occultation, a dialogue between Mustafa Ali Masoodi and sheikh Usama al-Atar.
See this link: https://www.al-islam.org/hadith-al-thaqalayn-a-study-of-its-tawatur/some...
for more details on the hadith of Thaqalayn and its study from the hadith books of the Sunni school.
If any of the daily prayers is missed, one should do their best to perform it as soon as possible with the intention of "Qadha" - that is, a prayer which is being performed after its specified time frame.