Is a person required to repeat the bowing (Ruku) if they doubt whether they performed it or whether they achieved the minimum required posture?

Primary text

If a person raises their head from prostration and doubts whether they performed the bowing or whether they remained in it for the minimum required duration, the doubt is disregarded. The person must return and bow again until they achieve tranquility in the bowed position, because the default state is the absence of the action doubted. This ruling applies to all pillars (Arkan) of the prayer, unless the doubt stems from obsessive whispering (Waswās), in which case it must be ignored.