I never heard the Prophet ﷺ say of anyone walking on the earth that he was among the people of Paradise, except for Abdullah bin Salam. He said, and concerning him this verse was revealed, "And a witness from the Children of Israel testified" [Ahqaf 46:10], the verse. He said, I do not know whether Malik said "the verse" or whether it was part of the hadith.
ما سمعت النبي ﷺ يقول لأحد يمشي على الأرض: إنه من أهل الجنة إلا لعبد الله بن سلام قال، وفيه نزلت هذه الآية: {وشهد شاهد من بني إسراءيل} الآية قال: لا أدري قال مالك: الآية، أو في الحديث.
Bukhari narrated it in the virtues of the Ansar (3812), and Muslim in the virtues of the companions (2483), both from Malik, narrating from Abu Nadr, the freedman of Umar bin Ubaydullah, from Amir bin Saad bin Abu Waqqas, from his father, who said, then he related it. The wording is Bukhari's, and Muslim did not mention, "and concerning him such and such was revealed... etc."As for his saying, "I never heard the Prophet ﷺ say of anyone walking on the earth...", Saad bin Abu Waqqas is known to have known that he ﷺ said of a group of people that they were among the people of Paradise. The response given is that he said this after the death of those who had been given glad tidings of Paradise, since Abdullah bin Salam lived after them, and none remained with him from the ten except Saad and Saeed bin Zayd. This is supported by some wordings of the hadith, such as his saying in Muslim's version, "he says of a living person walking."See, Fath al-Bari.