What should a worshiper who has forgotten a pillar of prayer do?

If he/she remembered the forgotten pillar before offering it in the following Rakah (unit of prayer), then he/she should offer it, and continue the prayer, then offer Sujood As-Sahw (Prostration of forgetfulness) at the end of it. But, if he/she remembered that forgotten pillar after having offered it in the following Rakah, then he/she should offer a new Rakah in its (the one in which he forgot a pillar) place, and offer Sujood As-Sahw.

Does touching women temporarily forbidden in marriage nullify ablution?

It is prohibited to touch, or to shake hands with such women as they are considered strangers, and doing so nullifies ablution.

Does Istigfar (Asking Allah for forgiveness) between the first and the second part of Friday prayer`s sermon render the prayer invalid?

Talking during Friday prayer`s sermon is disliked, but there is no harm in offering Istigfar between the two parts of the sermon, and it doesn`t invalidate the prayer as it is actually from Sunnah. And Allah Knows Best.

Generally speaking, I`m dutiful to my mother and opt for obeying her. However, she chose a certain girl to be my future wife, but I`m not pleased with her choice although that girl comes from a good family and enjoys good character. Should I obey my mother or choose another girl that lives up to my expectations?

Praise be to Allah the Lord of the Worlds.

One must obey their parents in whatever is in compliance with the teachings of Sharia and within one`s capacity. However, you aren`t to blame for not marrying that girl, but it is better that you tell your mother about that and it is preferable that you perform Istikharah prayer. And Allah The Almighty Knows Best.