Is a follower obligated to perform prostrations of forgetfulness (sujūd as-sahw) if the follower errs while the Imam does not?

Primary text

The majority of scholars hold that the follower has no prostration due to their own error if the Imam did not err. The evidence is that when Ma'awiya ibn al-Hakam spoke behind the Prophet, peace be upon him, he was not ordered to prostrate. Furthermore, the ruling is established that the follower is subordinate to the Imam, inheriting his ruling regarding non-occurrence of error. The evidence cites a report from Ibn 'Umar where the Prophet, peace be upon him, stated, 'There is no prostration upon whoever is behind the Imam; if the Imam errs, it is upon him and upon those behind him.'