´It was narrated from Mu'awiyah bin Abi Sufyan that he asked Umm Habibah, the wife of the Prophet (ﷺ):` "Did the Messenger of Allah (ﷺ) pray in a garment in which he had had intercourse?" She said: "Yes, so long as he saw no filth on it."
Hadith Referenceسنن نسائي / ذكر ما يوجب الغسل وما لا يوجبه / 295
Hadith Gradingالألبانی:صحيح | زبیر علی زئی:إسناده صحيح