The Messenger of Allah ﷺ used to touch the Yemeni Corner and the Black Stone in every circuit of his tawaf, but he did not touch the other two corners that are next to the Hijr.
حدثنا الفضل بن دكين حدثنا ابن أبي رواد عن نافع
أن رسول الله ﷺ كان يستلم الركن اليماني والأسود كل طوافه ولا يستلم الركنين الآخرين اللذين يليان الحجر
Its isnad is sahih. Ibn Abu Rawwad is Abdul-Aziz. The hadith is given at length at 4686, and see also 5622, 5945, 5950. As for his saying, "all his circuit," in ح and in a manuscript in its margin it reads "circuit" (طوفة), and we have adopted what appears in ك and م.