No, this is recommended but as long as you say rabbi ighfir li, this is sufficient.

Sheikh, the dua between two prostration is also the following: ALLAHUM MAGHFIRLI WARHAMNI WAHDINI WAJBURNI WAAFINI WARZUQNI WARFAANI (Abu Dawud: 850; Tirmdhi: 284; Ibn-e-Maja: 898)

Prayer | March 24, 2014 3:49 pm
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We will inshaaAllah be travelling by train in india. our journey will b about 12 hours. during this time how should we pray because there will no place for standing and praying? also how should we determine the qiblah?

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Do we do tawaruk in the nafl , witr and sunnah of dhuhr , isha magrib asar salat or just in the fards