The Messenger of Allah ﷺ used to be intimate with his wives above the waist-wrapper while they were menstruating.
حدثنا محمد بن فضيل عن الشيباني عن عبد الرحمن بن الأسود عن أبيه
كان رسول الله ﷺ يباشر نساءه فوق الإزار وهن حيض
Its isnad is sahih. Shaybani is Abu Ishaq, whose name is Sulayman bin Abu Sulayman. Abdul-Rahman bin Aswad is the son of Yazid. All of them are trustworthy, and their hadith is found in the collections of the group.The hadith was narrated by Bukhari 1/403 no. 300, and Muslim 1/242 no. 293, both in the book of menstruation, and Abu Dawud 1/69 no. 267, and Tirmidhi 1/239 no. 132, who said, hasan sahih, and Nasai 1/153 no. 285, and Ibn Majah 1/208 no. 636, all of them in the book of purification.