We prayed Dhuhr with the Prophet ﷺ in Madinah as four rakats, and Asr at Dhul Hulayfah as two rakats.
حدثنا قتيبة حدثنا سفيان بن عيينة عن محمد بن المنكدر وإبراهيم بن ميسرة سمعا
صلينا مع النبي ﷺ الظهر بالمدينة أربعا وبذي الحليفة العصر ركعتين
Agreed upon (muttafaq alayh). Bukhari also narrated it in the Book of Shortening the Prayer, chapter titled "One shortens the prayer when he leaves his place," hadith no. 1089, and Muslim, hadith no. 690, from the hadith of Sufyan bin Uyayna, with this wording.