Ibn ‘Umar said The Apostle of Allaah(ﷺ) did not give up touching the Yamani corner and the (Black) Stone in each of his circumambulations. Ibn ‘Umar used to do so.
Sunan Abi Dawud Book 11, Hadith 156
← Previous Hadith By Allah, I think that she must have heard it from the Messenger of Allah (ﷺ). I think that the Messenger of Allah (ﷺ) had not given up touching both of them but for the reason that they were not on the foundation of the House (the Ka'bah), nor did the people circumambulate (the House) beyond al-Hijr for this reason.

Sunan Abi Dawud Book 11, Hadith 155 Next Hadith → Ibn ‘Abbas said The Apostle of Allaah(ﷺ) performed the circumambulation at the Farewell Pilgrimage on a Camel and touched the corner(Black Stone) with a crooked stick.

Sunan Abi Dawud Book 11, Hadith 157