Performed Dhuhr Salah but did not know time had finished

Performed Dhuhr Ṣalāh but did not know time had finished

Question

I made intention of performing Dhuhr Ṣalāh today and after performing it, found out later that the time of Dhuhr Ṣalāh had already finished and ʿAṣr Ṣalāh time had begun. Do I have to repeat my Dhuhr Ṣalāh?

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