Do I have to pray Tahiyatul Masjid if I left for only 10 minutes?

As salaamu 'alaykum wa rahmatullaahi wa barakaatu. I've always wondered about the answer to this question, walhamdulillaah, it was answered by Shaykh Saalih al-Fawzaan, hafidhUllaah. In shaa Allaah, you will benefit as well...