Is it considered normal for some individuals to circumambulate the Kaaba without wearing the ihram, especially given that this causes hardship for pilgrims coming from distant places?

Circumambulating the Kaaba (Tawaf) is an act of worship not restricted to Hajj or Umrah; rather, it is general and permissible at any time for both those in ihram and those not in ihram. Tawaf has several types, including Tawaf al-Qudum (arrival circumambulation), Tawaf al-Ziyarah (visitation circumambulation), Tawaf al-Wada' (farewell circumambulation), Tawaf of Umrah, Tawaf of a vow, and the supererogatory (nafl) Tawaf. The Sharia has encouraged performing it frequently, as stated in the hadith: "Whoever circumambulates this House seven times and performs it accurately, it is as if he has freed a slave. And he does not place a foot down nor raise another except that Allah forgives a sin for him and records a good deed for him thereby." The Prophet (peace be upon him) and his Companions used to perform Tawaf around the Kaaba outside of Hajj and Umrah, and the Ummah has continued this practice.