Please download here my translation of a treatise concerning differences of opinion. We may not agree with every point, but I find it quite beneficial to share. The only additional comment I have to make is that the author mentioned the important incident of Banu Qurayzhah, without mentioning what actually happened.
During the siege of al-Madinah during the Battle of Khandaq (5 Hijri) the Jews of Banu Qurayzhah who were bound by treaty to the Muslims, betrayed the Muslims. After the siege was lifted, Jibreel alayhis salaam ordered Rasulullah sallallahu alayhi wa sallam to punish the traitors.
Rasulullah sallallahu alayhi wa sallam therefore announced: لا يصلين أحدكم العصر إلا فى بنى قريظة – None of you should pray Asr except at Banu Qurayzhah!
One group of Muslims took long to reach Qurayzhah. It was nearing sunset, and they had not yet prayed Asr. Some insisted on following the command literally, even it meant praying Asr at Qurayzhah only when the stars had appeared. Others opined that the command meant to hurry, but Asr had to be prayed before sunset, which meant not at Qurayzhah in their case.
Rasulullah sallallahu alayhi wa sallam did not rebuke either group, even though their actions were opposite.