Is my prayer valid if I'm unsure about my doubt being genuine?

Assalamu alaikum, everyone. I struggle with doubts in every single prayer, and it's exhausting. I just don't know whether to ignore these whispers or not. Almost every salah, I get thoughts like, did I actually perform ruku or sajdah? I used to think I should just completely ignore them, but then I heard a scholar online say we should go with our gut feeling-if you strongly feel you did the action, then ignore the doubt. But trying to figure out my gut feeling has made the waswasa even worse, because now I stop and analyze it during prayer. Later, the doubt returns, and I can't even tell what my gut feeling is anymore, so I feel like I have to repeat parts of the prayer. Is this the right approach, or am I doing it all wrong? I'm really lost. In the prayer I just finished, I doubted if I did ruku, and I tried to lean toward thinking I did, but for the rest of the salah I wasn't sure. Now I'm worried if my prayer was valid. Right now I'm thinking maybe I did do ruku, but I'm not certain. Should I have done another ruku because my inclination changed later? What should I do? 😿 Because of these doubts, I even repeated my sajdah twice, unsure if I did one or two. Please, any advice would help.