Entering the prayer with the imam with a different intention and how to catch up with the Maghrib prayer

Question:
The second question, may Allah bless you, O Shaykh. I heard a Shaykh say: If a man comes to the mosque and the imam is praying the 'Isha' prayer, and he has not prayed the Maghrib prayer, where does he wait? Does he wait in the mosque a little until he misses a rak'ah, then he enters with the imam and prays three rak'ahs in order, meaning in a voluntary prayer? Because Maghrib is prayed as two rak'ahs, then you sit for the tashahhud, then you add a third rak'ah. And one of the imams of our time, in whom we have special trust and we love, may Allah bless you like him, says that there is a difference in intention and method, and that it is not permissible to enter with the intention of a man praying the Zuhr while you enter while he is praying the 'Asr, and you enter with the intention of Zuhr. It is not permissible for you to pray Maghrib alone and then enter with him with the intention of 'Asr. Okay, thank you, Ya Sa'id. May Allah bless you. Thank you, Ya Sa'd, please, O Shaykh.

Answer:
As for entering the prayer behind another prayer, such as praying Zuhr behind 'Asr, the correct view is that there is no harm in it; there is no harm in it. And tell this imam, may Allah grant him success, that the correct view is contrary to what he said: it is permissible to pray Zuhr behind 'Asr, and there is no objection to that. As for waiting until he misses a rak'ah in the Maghrib prayer and then standing up to pray three, this is not permissible for him. He should enter with the imam at the beginning of the prayer. If he prays three, he sits in the fourth; he does not stand with him for the fourth. He sits and performs the final tashahhud. Then, if he wishes, he says the taslim for himself, and if he wishes, he waits for the imam and says the taslim with him. Yes.