The Messenger of Allah (ﷺ) would sleep while he was sexually defiled without touching water.

Abu Dawud said: Hasan b. 'Ali al-Wasiti said that the heard Yazid b. Harun say: This tradition is based on a misunderstanding, i.e. the tradition reported by Abu Ishaq.
Sunan Abi Dawud Book 1, Hadith 228
← Previous Hadith The Prophet (ﷺ) said: Angels do not enter the house where there is a picture, or a dog, or a person who is sexually defiled.

Sunan Abi Dawud Book 1, Hadith 227 Next Hadith → Abdullah ibn Salamah said: I, accompanied by other two persons, one from us and the other from Banu Asad, called upon Ali. He sent them to a certain territory (on some mission) saying: You are sturdy and vigorous people; hence display your power for religion. He then stood and entered the toilet. He then came out and called for water and took a handful of it. Then he wiped (his hands) with it and began to recite the Qur'an. They were surprised at this (action).

Thereupon he said: The Messenger of Allah (ﷺ) came out from the privy and taught us the Qur'an and took meat with us. Nothing prevented him; or the narrator said: Nothing prevented him from (reciting) the Qur'an except sexual defilement.

Sunan Abi Dawud Book 1, Hadith 229