The Prophet ﷺ, Abu Bakr, and Umar used to say takbir at every lowering and rising.
حدثنا وكيع عن أبيه عن أبي إسحاق عن عبد الرحمن بن الأسود وعبد الرحمن بن يزيد
أن النبي ﷺ وأبا بكر وعمر رضي الله عنهما كانوا يكبرون في كل خفض ورفع
Its chain of transmission is sahih from the route of Abdul-Rahman bin Yazid, and disconnected from the route of Abdul-Rahman bin Aswad, but the preceding narrations made clear that it is connected, and that Abdul-Rahman bin Aswad narrated it from his father Aswad and from Alqama. This hadith is a repetition of the one before it.