The Messenger of Allah ﷺ performed tawaf around the Kaabah on a camel during the Farewell Pilgrimage, touching the corner with his Mihjan.
أخبرني عمرو بن عثمان قال حدثنا شعيب وهو ابن إسحق عن هشام بن عروة عن أبيه
طاف رسول الله ﷺ في حجة الوداع حول الكعبة على بعير يستلم الركن بمحجنه
Muslim narrated it, in the book of Hajj, chapter on the permissibility of performing tawaf while riding a camel or otherwise, etc., hadith no. 1274, from the hadith of Shuayb, through this same chain. It is also found in Al-Kubra, hadith no. 3923.