Hafs b. ‘Asim said

I accompanied Ibn ‘Umar on the road to Mecca and he led us in two rak'as at the noon prayer, then went to the place where he had alighted and sat down. Seeing some people standing he asked what they were doing, and I replied that they were engaged in glorifying Allah. He said, “If I had done so I would have perfected my prayer. I accompanied Allah's Messenger ﷺ, and he prayed two rak'as and nothing more while on a journey. I also accompanied Abu Bakr, ‘Umar and ‘Uthman, and they did the same." (Bukhari and Muslim.)