Is it permissible for the congregation to transfer leadership to another leader due to an excuse (udhr)?

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The designation of a successor (Istikhlaf) implies the permissibility of transferring the congregation to another leader due to an excuse. Evidence for this is found in the actions of the Prophet Muhammad (peace be upon him). On one occasion, the Prophet arrived while Abu Bakr was leading the prayer; Abu Bakr stepped back, and the Prophet led the remainder of the prayer for them. On another occasion, the Prophet arrived, sat to the left of Abu Bakr (who stood to his right), with Abu Bakr following him and the people following Abu Bakr. Both narrations are authenticated and agreed upon (muttafaq 'alayhima). These actions strongly support the validity of appointing a successor and transitioning leadership due to an excuse.