Al-Miqdad (May Allah be pleased with him) reported in course of a long Hadith:
We used to reserve for the Prophet ﷺ his share of the milk, and he would come at night and offer greetings in such a manner as did not disturb those asleep and was heard only by those who were awake. In fact, the Prophet ﷺ came and offered greetings as usual.

[Muslim].

وعن المقداد رضي الله عنه في حديثه الطويل قال: كنا نرفع للنبي ﷺ نصيبه من اللبن، فيجيء من الليل، فيسلم تسليمًا لا يوقظ نائمًا، ويسمع اليقظان، فجاء النبي ﷺ فسلم كما كان يُسلم. ((رواه مسلم)).