A young man who used to pray according to his knowledge while ignorant of the legal rulings, and has now repented and learned the legal rulings, should he repeat his prayers?

Question:
I am a young man of thirty years old. I have been praying the five daily prayers since I was fourteen, but I sometimes prayed them as make-up and sometimes on time. Sometimes I moved a lot and worshipped, and sometimes I did not raise my voice in the prayers where raising the voice is required. I did not know how to pray as one who joins the prayer late, nor the prostration for forgetfulness. Also, and this confuses me more, I used to pray the Fajr prayer with two rak'ahs, reciting the tashahhud in the first rak'ah and the tashahhud in the second rak'ah. The point is that I used to pray according to my knowledge because I did not master the Islamic legal sciences. Now, praise be to Allah, I repented to Allah last year and learned the legal rulings. But what really worries me is the past years. Do I have to repeat what I prayed during all those past years on the basis that I was a disbeliever, or is there no make-up required of me? And was the Fajr prayer last year, in the manner I described, valid, and do I also have to make it up? I ask for your guidance, may you be rewarded. May Allah reward you with good.

Answer:
First, it is obligatory for the Muslim to learn the rulings of his religion, such as his prayer and others, and not to be satisfied with what has become customary or to follow the ignorant or not to ask the people of knowledge. It is obligatory for the Muslim to care about the matters of his religion and to learn them, either through study or through asking the people of knowledge. Allah the Exalted said: As for remaining in ignorance and performing acts of worship based on custom and imitation without jurisprudence or knowledge of the rulings of the Shari'ah, this is not permissible for the Muslim. Learning is made easy, praise be to Allah, for whoever cares about it. Likewise, asking the people of knowledge is made easy, either in person, in writing, or by telephone call. This is a matter that is made easy, but it requires attention. So, what happened to the questioner during the previous period, where he prayed without the correct legal rulings, is an error. However, due to his ignorance and the fact that he prayed and performed the prayer to the best of his ability, his prayer is valid, if Allah wills. He is not a disbeliever, because he performed the prayer to the extent of his effort and knowledge. Even if he fell short in that he did not ask or investigate, we hope that his past prayers are sufficient and that he is excused due to ignorance. And because repeating all the past prayers in a time that may have been prolonged is something that is difficult and burdens the person with what he cannot bear. But he must maintain the prayer in the future. He must also gain knowledge of his religion, knowing the rulings of his prayer, his worship, or the prescribed way, and not continue in his ignorance and his immersion in blind imitation. And Allah knows best.