Is prostration permissible via gesture while riding a beast of burden during travel?

Primary text

It is permissible to indicate prostration via gesture while riding a beast of burden during travel, similar to the ruling for voluntary prayer (nafl). This opinion is held by Ali, Sa'id ibn Zayd, Ibn Umar, Ibn al-Zubayr, al-Nakha'i, 'Ata', Malik, al-Shafi'i, and the Companions of the Opinion (Ashaab al-Ra'y). There is no known disagreement regarding this. Evidence includes the narration recorded by Abu Dawud, where Ibn Umar reported that during the Conquest of Makkah, when the Prophet, peace be upon him, recited a verse requiring prostration, everyone prostrated, including those riding, who prostrated upon their hands. Furthermore, this action does not exceed the scope of voluntary prayer, which is permitted while riding.