ANSWER:

You should pray it immediately when you realize that you have missed the prayer.

One should pray in sequence.
Therefore, if the Imam was in Maghreb, join him and once he offers Salam , stand up to complete your remaining Rakah.

 

I missed my asr nimaz yesterday and was in dilemma whether to pray asr after magrib or before magrib. Also could one pray missed qaza nimaz say asr with imam when imam is praying magrib?

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