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." (FR)
English reference (FR): Vol. 1, Book 1, Hadith 295 (FR)
Arabic reference (FR): Book 1, Hadith 296 (FR)