Anas bin Malik reported,
I prayed behind the Messenger of Allah ﷺ, Abu Bakr, Umar, and Uthman 
, and I did not hear any of them recite "In the name of Allah, the Most Gracious, the Most Merciful" aloud.
Nasai 908
Sahihأخبرنا عبد الله بن سعيد أبو سعيد الأشج قال حدثني عقبة بن خالد قال حدثنا شعبة وابن أبي عروبة عن قتادة
عن أنس قال
صليت خلف رسول الله ﷺ وأبي بكر وعمر وعثمان رضي الله عنهم فلم أسمع أحدا منهم يجهر ببسم الله الرحمن الرحيم
Bukhari narrated it in the Book of Adhan, chapter on what is said after the takbir, hadith no. 743, and Muslim in the Book of Prayer, chapter on the argument of those who say the basmalah is not recited aloud, hadith no. 399, and others besides them, from the hadith of Shubah, transmitted through him, both in shortened and lengthened forms. It is also found in Al-Kubra, hadith no. 979.