As far as I know, varnashram is originally a Vedic idea, by which Shudras that were Not recognised as dvija were Not entitled for Upanayana that usually used to take place at the age of 8-11 years of the boys fathered by dvija males. From this, it evidently follows that by the Vedic varnashram, people were born with their varna. Still, I've heard some people claim that the varna of guys was Not determined by their birth in Vedic times. Nevertheless, so far I haveN't heard them say any substantial stuff in defence of their claim.
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https://hinduism.stackexchange.com/questions/31859/do-sruti-texts-mention-either-or-both-of-birth-based-varna-and-guna-based-varna – hanugm May 19 '21 at 03:45
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Not entitled is misleading. By all logic if the wrong Varna does a ritual it has no effect, good or bad, so there is no reason a Shudra can't do it, it just wouldn't do anything. This is clearly the case as no repercussions or checks are listed for doing the ritual with the wrong Varna. The only reason scriptures advise against it is because they want to warn you against wasting time and resources. If you want to do it anyway, no one is going to stop you. – Aupakarana Abhibhaa May 20 '21 at 22:22