ANSWER: No! Companions do not innovate rather they make ijtihad that might be right and might be wrong.

QUESTION: Has Abdullah bin umar ra’s did innovation by praying deliberately salahs where Prophets peace and blessings upon him had offered salahs

Innovations, The Companions of the Prophet | January 10, 2023 4:33 am
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QUESTION: Sheikh, is bayyah(pledge of allegiance) an innovation? My friend’s brother said that it is shirk, is it?
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QUESTION: If I were cap only when going to pray so to adorn myself,is this comes under biddah (as prophet Muhammad ﷺ always cover his head)??