Do we have to shorten and combine prayers during travel?

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The Prophet (peace and blessings of Allah be upon him) shortened his prayers on all his journeys, which indicates that the Sunnah for the traveler is to shorten his prayers. As for combining prayers, it is proven that he (peace and blessings of Allaah be upon him) combined prayers when traveling, and it is also proven that he did not join prayers, which indicates that combining prayers is a choice for the traveler to perform when needed.