It was narrated from Mu'awiyah bin Abi Sufyan that he asked Umm Habibah, the wife of the Prophet (ﷺ):
"Did the Messenger of Allah (ﷺ) pray in a garment in which he had had intercourse?" She said: "Yes, so long as he saw no filth on it." (AR)
English reference (AR): Vol. 1, Book 1, Hadith 295 (AR)
Arabic reference (AR): Book 1, Hadith 296 (AR)