I prayed Zuhr with the Prophet ﷺ during travel as two rakats, followed by two rakats afterward.
حدثنا علي بن حجر حدثنا حفص بن غياث عن الحجاج عن عطية
صليت مع النبي ﷺ الظهر في السفر ركعتين وبعدها ركعتين
[Its chain is daif]. Ahmad narrated it in 2/90 through another route from Atiya Awfi with the same wording. See the following hadith.