Ibn `Umar went on a journey and said, "I accompanied the Prophet (ﷺ) and he did not offer optional prayers during the journey, and Allah says: 'Verily! In Allah's Messenger (ﷺ) you have a good example to follow.' " (33.21)
Sahih al-Bukhari Book 18, Hadith 21
← Previous Hadith We went to receive Anas bin Malik when he returned from Sham and met him at a place called 'Ainat- Tamr. I saw him praying riding the donkey, with his face to this direction, i.e. to the left of the Qibla. I said to him, "I have seen you offering the prayer in a direction other than that of the Qibla." He replied, "If I had not seen Allah's Messenger (ﷺ) doing it, I would not have done it."

Sahih al-Bukhari Book 18, Hadith 20 Next Hadith → I accompanied Allah's Messenger (ﷺ) and he never offered more than two rak`at during the journey. Abu Bakr, `Umar and `Uthman used to do the same.

Sahih al-Bukhari Book 18, Hadith 22