Yes we don’t have a hadith with a sahih chain that states it’s recommended to do that. The hadith about Imam Redha (a) observing that does not have a sahih chain, so cannot verify it. It doesn’t mean it’s false—it just means we cannot verify it.
However, there is nothing wrong in observing that if it indicates respect and readiness to serve the Imam (a). We are commanded to respect the Imam and obey him, so if this act indicates respect and obedience, there is nothing wrong with it.