I went out with the Prophet ﷺ and he did not exit ihram, and with Abu Bakr and Umar and Uthman, and they did not exit ihram either.
حدثنا عبد الله بن الوليد حدثنا سفيان حدثني جهضم عن عبد الله بن بدر
خرجت مع النبي ﷺ فلم يحلل ومع أبي بكر وعمر وعثمان فلم يحلوا
Its isnad is sahih. Sufyan is Thawri. Jahdam is Ibn Abdullah bin Abu Tufayl Qaysi, and he is trustworthy, Ibn Main and Abu Hatim both affirmed his reliability. Criticism of him only concerns his narrations from unknown individuals, but when he narrates from someone well known, that criticism does not apply. Bukhari gave his biography in Al-Kabir 1/2/246 and mentioned no fault in him. Abdullah bin Badr Sahaymi Yamami is a trustworthy successor, affirmed as reliable by Ibn Main, Abu Zura, and others. See 4996.