The Messenger of Allah ﷺ would sleep while in a state of major ritual impurity without touching water.
حدثنا هناد حدثنا أبو بكر بن عياش عن الأعمش عن أبي إسحق عن الأسود
كان رسول الله ﷺ ينام وهو جنب ولا يمس ماء
Its chain of transmission is daif. Ibn Majah narrated it in the Book of Purification, Chapter on the sexually impure person sleeping as he is without touching water, hadith 581, from the hadith of Abu Bakr bin Ayyash, by this same route, and he was not alone in narrating it. Abu Ishaq stated explicitly that he heard it directly, as found in Bayhaqi (1/201, 202), but the chain of transmission leading to him is daif.His statement, "and does not touch water," means he does not perform ghusl.