It is narrated from Sayyiduna Usama bin Zaid (may Allah be pleased with them both) that the Messenger of Allah ﷺ returned from Arafat. When he passed through the valley, he dismounted from his ride, relieved himself, then performed ablution but did not do it thoroughly. So I said: "O Messenger of Allah ﷺ! Is there to be prayer?" He ﷺ replied: "The prayer is ahead of you at Muzdalifah." Then he mounted again. When he reached Muzdalifah, he dismounted, then performed ablution thoroughly. Then the iqamah was given and he led the Maghrib prayer. Then every person made his camel kneel at his place. Then the congregation for the ‘Isha prayer was established and he ﷺ led the prayer, and between these two prayers he did not perform any (sunnah or nafl) prayers.
Hadith Referenceالسنن المأثورة / باب عمارة الأرضين / 441
Hadith Takhrijصحیح بخاری، الوضوء، باب اسباغ الوضوء، رقم: 139، صحیح مسلم، الحج، باب الافاضة من عرفات الى المزدلفة، رقم: 1280