I heard Ibn Abi Awfa say when I asked him about (eating) locusts: I went on six or seven expeditions along with the Messenger of Allah ﷺ and we ate them (locusts) along with him. (Using translation from Abū Dāʾūd 3812)
وَقَالَ غَزَوْتُ مَعَ رَسُولِ اللهِ ﷺ سَبْعَ غَزَوَاتٍ فَكُنَّا نَأْكُلُهُ