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The Sefer haRokeah (Taamei B'rachos 319:274) says that his brother Chizkiyah explained that it's because we bow during birchas hatorah and we want to affirm afterwards that we weren't worshipping it ...
Related: Better less with kavannah than more without?
Seems like I should add an answer that tries to balance the answers given already. Read them first, but:
None of the sources given say explicitly ...
The answer is yes, you must pray 3 times a day, regardless of your ability to concentrate. There might be exceptions to this, so please consult your LOR for any personal situations where this becomes ...