Salat (Prayer) is NOT necessarily a rigid bundle of rituals. It is your connection with God. So, just as there is no “set” method of eating/studying/teaching/conversing, Connection with God is also a thing which should come naturally to you. How that comes to you is none of my or anyone else’s business. If you find it in rituals, please continue to do so (without invoking anyone else of course, including the prophets). If you find it in reading the Qur’an, then that can also be considered as Salat. The prime focus should be on what derives the most connection, not mindless rituals on which people debate even today! The important thing is to establish a connection whereby one can feel His presence at all times. 2:67-71 deals with this beautifully. It is to be noted that I do not condemn rituals, just the overemphasis on them.
Next: Look to within (and not always to Imams) for your answers.