"A man asked the Prophet whether he could perform prayer in a garment in which he had intercourse with his wife. He said: 'Yes, unless he sees something on it, in which case he should wash it.'" (Using translation from Ibn Mājah 542)
سَأَلَ رَجُلٌ رَسُولَ اللهِ ﷺ أُصَلِّي فِي الثَّوْبِ الَّذِي آتِي فِيهِ أَهْلِي؟ قَالَ نَعَمْ إِلَّا أَنْ تَرَى فِيهِ شَيْئًا فَتَغْسِلَهُ