Yahya bin Saeed, may Allah have mercy on him, used to say that sometimes a person offers prayer and the time does not pass away, but the time that has passed was better and superior for him than his household and wealth.
Imam Malik, may Allah have mercy on him, said: If a person is on a journey and the time for prayer comes, then that person, due to forgetfulness or confusion, delays the prayer until he returns to his home, and there is still time remaining, then he should perform the prayer in full like a resident, not shortened. And if the time has passed, then he should perform it shortened, because now he will be offering the missed prayer, and the missed prayer should be performed in the same manner as it was originally obligatory.
Imam Malik, may Allah have mercy on him, said: Shafaq refers to the redness that appears in the west, so when the redness disappears, the time for the Isha prayer will come and the time for the Maghrib prayer will have passed.