It was narrated from Salim that his father said:
“The Messenger of Allah ﷺ used to pray two Rak’ah while traveling, and he did not do more than that. And he used to pray Tahajjud at night.” I asked: “Did he pray Witr?” He said: “Yes.”

حَدَّثَنَا أَحْمَدُ بْنُ سِنَانٍ، وَإِسْحَاقُ بْنُ مَنْصُورٍ، قَالاَ حَدَّثَنَا يَزِيدُ بْنُ هَارُونَ، أَنْبَأَنَا شُعْبَةُ، عَنْ جَابِرٍ، عَنْ سَالِمٍ، عَنْ أَبِيهِ، قَالَ كَانَ رَسُولُ اللَّهِ ـ ﷺ ـ يُصَلِّي فِي السَّفَرِ رَكْعَتَيْنِ لاَ يَزِيدُ عَلَيْهِمَا وَكَانَ يَتَهَجَّدُ مِنَ اللَّيْلِ . قُلْتُ وَكَانَ يُوتِرُ قَالَ نَعَمْ .