Allah's Messenger (ﷺ) offered a two-rak`at prayer at Mina. Abu Bakr, `Umar and `Uthman, (during the early years of his caliphate) followed the same practice.
Sahih al-Bukhari Book 25, Hadith 136
← Previous Hadith I went out to Mina on the day of Tarwiya and met Anas going on a donkey. I asked him, "Where did the Prophet (ﷺ) offer the Zuhr prayer on this day?" Anas replied, "See where your chiefs pray and pray similarly."

Sahih al-Bukhari Book 25, Hadith 135 Next Hadith → The Prophet (ﷺ) led us in a two-rak`at prayer at Mina although our number was more than ever and we were in better security than ever.

Sahih al-Bukhari Book 25, Hadith 137