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Bismihi ta'ala

The dhikr that should be recited in sajdatay al-sahw are:

بِسْمِ اللهِ وَ بِاللهِ، اَلسَّلَامُ عَلَیْكَ أَيُّـهَا النَّبِيُّ وَ رَحْمَةُ اللهِ وَ بَـرَکَاتُهُ

bismillāhi wa billāhi, assalāmu ʿalayka ayyuhan nabiyyu wa raḥmatullāhi wa barakātuh.
In the name of Allah and by Allah. Peace be upon you O Prophet, and Allah’s mercy and His blessings (be upon you too).

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And Allah knows best.

It is permissible to recite Du'a Tawassul during Sajdah because the Sajdah is only for Allah (SWT) and never for any one else but Allah. During Sajda Sahw, we recite (Bismillah a Billah, Assalamu Alayka Ayyuha Annabiyyu Wa Rahmatullah Wa Barakatuh). It does not mean that we doing Sajda for the Prophet (SAWA) but for Allah (SWT) only. Addressing the Prophet or any Ma'soom during Sajdah does not make the Sajdah for him at all but it remains always for Allah (SWT). It menas hat you are talking to them while prostrating to Allah (SWT).

Wassalam.

The Prayer is valid.

If you remembered that you missed on Sajda by mistake, you should perform it immediately after the Prayer then perform 2 Sajda of Sahw (forgetting). The way of performing the two Sajda of Sahw is just prostrating and saying during Sajda (BISMILLAH WABILLAH ALLAHUMMA SALLI 'ALA MUHAMMAD WA AALI MUHAMMAD) then sitting and going again to Sajda and saying the same, then sitting and reciting Tashahhud and Salam.

Wassalam.

It is permissible to prostrate on a clay on which something is written, though it is much better to prostrate on plain clay ( Torbah) or Mohr or Sajdagah.

Wassalam.