He—may Allah have mercy on him—was asked:

“Are there sunnah prayers associated with a traveller’s obligatory prayers? Allah has reduced the four-rak‘ah prayers to two rak‘ahs out of mercy towards His servants, so what evidence supports prescribing sunnah prayers? ‘Umar objected to someone offering voluntary prayer after the obligatory prayer. Do any schools, such as that of Abū Hanīfah, regard sunnah prayers as strongly recommended during travel? Has this been reported from Abū Hanīfah or not?”

He answered:

The voluntary prayers that the Prophet—peace and blessings be upon him—is authentically reported to have offered while travelling include the two rak‘ahs before Fajr. Indeed, when he and his Companions overslept on their return from Khaybar, they made up these two rak‘ahs along with the obligatory prayer. The same applies to the night prayer and Witr.

For it is authentically reported:

“He used to pray on his mount, whichever direction it took him, and would offer Witr on it, but he would not offer the obligatory prayers on it.”

As for prayer before and after Zuhr, it has not been reported that he offered it while travelling, and he did not offer any additional prayer alongside Zuhr. Likewise, at Minā he would pray two rak‘ahs at a time, and no one reported that he offered any additional prayer alongside them.