1) May I know, If I make mistakes in the sunnat acts of my namaz, make my salat invalid ? For example, doing mistake in salwats or all the Allahu Akbar that are not wajib. If I did mistake while reciting the salwats of the rukuh and sajda , during my namaz. For example, after the zikr of the rukuh, I say the salwat quicky and I miss some words. My namaz is still valid?

2) Also, when I am doing my wuzu, and my arms touch or touch something like, the door or my clothes, make it invalid?

1) Its valid
2) No, it doesn't not make it invalid