His stance can be found in all his books, please take the effort to first read his work before asking others. Please see for example his Glossary in his Exposition of the Holy Qur'an where he explains his views on Salat:
In this he clearly explains that Salat main meaning is following the system of Allah. He only understood it to mean 'namaz' in a few verses and then only as congretational prayer and never as personal prayer. For him, namaz was a social ritual that represented the obedience of the community to God and not to any human. It was not a ritual to 'please' God or to gain 'salvation'. It was to create a social feeling in a society that they all served the same goal. Thus it was not worship or to gain spirituality. This is why he didn't mind using the traditional version of namaz, since the details of the forms do not matter. It is about the social effect, not as a key to please God as it is done by the majorities of Muslims. They all think the movements have to be exact to 'open' the door to salvation, and thus fuss about stupid ritualistic details for centuries.