Should wiping over hijab only be done out of necessity and removed for wudu if one is able to?

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Yes, wiping the hijab is not similar to wiping socks which is agreed upon among the scholars. Wiping over hijab is something derived as an analogy being compared to Turban and not supported by a direct hijab wiping evidence. Because of that, wiping over hijab is to be done only when it is needed like performing Wudu at work or in a public facility where taking off hijab causes difficulties or exposure to non mahrab men around her.