[Machine] The Prophet ﷺ used to pray Dhuhr when the sun had passed its zenith, Asr when the sun was still bright, Maghrib when the sun had set, Isha when he saw the people receding in number, he would delay it if he saw them increasing, and Fajr when it was brightening in the horizon. This is reported in the two Sahih collections from the narration of Shu'bah.
كَانَ النَّبِيُّ ﷺ يُصَلِّي الظُّهْرَ إِذَا زَالَتِ الشَّمْسُ وَالْعَصْرَ وَالشَّمْسُ حَيَّةٌ وَالْمَغْرِبَ إِذَا غَابَتِ الشَّمْسُ وَالْعِشَاءَ إِذَا رَأَى فِي النَّاسِ قِلَّةً أَخَّرَ وَإِذَا رَأَى فِيهِمْ كَثْرَةً عَجَّلَ وَالصُّبْحَ بِغَلَسٍ مُخَرَّجٌ فِي الصَّحِيحَيْنِ مِنْ حَدِيثِ شُعْبَةَ