The Messenger of Allah ﷺ would sleep while he was sexually defiled without touching water. Abu Dawud said: Hasan b. 'Ali al-Wasiti said that the heard Yazid b. Harun say: This tradition is based on a misunderstanding, i.e. the tradition reported by Abu Ishaq.
كَانَ رَسُولُ اللَّهِ ﷺ يَنَامُ وَهُوَ جُنُبٌ مِنْ غَيْرِ أَنْ يَمَسَّ مَاءً