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