Difference between Voluntary Prayer and Recommended Prayer

What is the difference between voluntary prayer and recommended prayer?

To the best of my understanding there is no difference. Both refer to prayer which is not compulsory. Term commonly used is nafl salaah but at times people use sunnah. This sunnah can be Muakkadah (highly stressed) or Ghair Muakkadah (stressed). The first type is that which the Prophet (ﷺ) performed all the time even though it was optional for him and the latter he sometimes didn’t perform it, even without any reason. Witr falls under Sunnah Muakkadah.

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