Supposing you are engrossed in Pooja or Japa from evening till midnight or you are doing Naamasmarana/Naama Sankeerthan from evening till late night. You are doing a Sadhana with full body, mind and intellect on it that you cannot break that sadhana. In such a situation missing Sandhya Vandanam is not harmful because you are doing the same or even a higher sadhana than Sandhya Vandanam. However, to miss a Sandhya Vandanam, you must not be aware of the Sandhya while doing the above sadhana. The moment you are aware of it, it is better to take some break from the sadhana and do Sandhya Vandanam and then continue the sadhana. It is exempted only when you are doing a higher sadhana and you are fully absorbed in it without being aware of the time factor.
People always complain that there are so many distractions while performing daily japa of namas or there is tasteless chanting. This is because we conditioned living entities are always subject to influence of 3 factor combination I.e adhidhaivik-adhibautik-adhyatmik or different propertion of influence of sattva-rajas-tamas.
Therefore performance of Varnashrama Dharma like sandhyavandanam etc purifies us to perform nama sankirtanam with more purity.
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