The Prophet ﷺ said: When one of you is invited to take meals and comes along with the messenger, that serves as permission for him to enter. Abu 'Ali al-Lu'lu said: I heard Abu Dawud say: Qatadah did not hear anything from Abu Rafi'.
أَنَّ رَسُولَ اللَّهِ ﷺ قَالَ إِذَا دُعِيَ أَحَدُكُمْ إِلَى طَعَامٍ فَجَاءَ مَعَ الرَّسُولِ فَإِنَّ ذَلِكَ لَهُ إِذْنٌ قَالَ أَبُو عَلِيٍّ اللُّؤْلُؤِيُّ سَمِعْتُ أَبَا دَاوُدَ يَقُولُ قَتَادَةُ لَمْ يَسْمَعْ مِنْ أَبِي رَافِعٍ شَيْئًا