|Reb Shlom Zalman Aurebach|
According to Harav Hagaon Reb Shlomo Zalman Auerbach zt”l:
Someone who forgot to say Ya’aleh Veyavo and needs to repeat the Shemoneh Esrai,must do so with a Minyan.
However, there is no need to travel 1 Mil./ 4 Mil. to find a Minyan for the second Shemoneh Esrai.