Abī Umayya al-Aʿwar, from Yūsuf ibn ʿAbd Allah ibn Salām, who said:
“I saw the Prophet ﷺ pick up a small piece of bread, place a date upon it, and remark, ‘This is the relish for this,’ whereupon he ate it. (1)”

If this report is sound, then he counts as a Companion.

Muḥammad ibn Saʿd, in his fifth tier of Companions, writes: “Yūsuf ibn ʿAbd Allah ibn Salām was an Israelite, a descendant of the Prophet Joseph, and he was reliable. He has worthy ḥadiths.”

Ibn Abī Ḥātim said: “He saw the Prophet.”
Al-Bukhārī said: “He enjoyed companionship.”
Abū Ḥātim said: “He did not have companionship.”
Al-ʿIjlī said: “A Successor, trustworthy.”
Shabbāb said: “He died during the caliphate of ʿUmar ibn ʿAbd al-ʿAzīz.”

Khalaf ibn Hishām related: Ḥammād ibn Zayd told us, from Yaḥyā ibn Saʿīd, who said:
“I went out with Yūsuf ibn ʿAbd Allah ibn Salām on the morning of ʿĪd. I asked him, ‘How was the prayer conducted in the days of ʿUmar?’ He replied, ‘He would begin with the sermon before the prayer.’”
This report is exceedingly singular.

120 – ʿAbd Allah ibn ʿUkaym al-Juhanī * (M, 4)
It is said that he was a Companion.
Without doubt he embraced Islam during the Prophet’s lifetime and performed the prayer