The Messenger of Allah (ﷺ) did not abandon at all observing two rak'ahs after the 'Asr in my house.
Sahih Muslim Book 6, Hadith 363
← Previous Hadith He (the Holy Prophet) observed them before the 'Asr prayer, but then he was hindered to do so, or he forgot them and then he observed them after the 'Asr, and then he continued observing them. (It was his habit) that when he (the Holy Prophet) observed prayer, he then continued observing it. Isma'il said: It implies that he always did that.

Sahih Muslim Book 6, Hadith 362 Next Hadith → Two are the prayers which the Messenger of Allah (ﷺ) always observed in my house-openly or secretly-two rak'ahs before the dawn and two rak'ahs after the 'Asr.

Sahih Muslim Book 6, Hadith 364