I accompanied Messenger of Allah ﷺ and he never offered more than two rakʿat during the journey. Abu Bakr, ʿUmar and ʿUthman used to do the same.
أَنَّهُ سَمِعَ ابْنَ عُمَرَ يَقُولُ صَحِبْتُ رَسُولَ اللَّهِ ﷺ فَكَانَ لاَ يَزِيدُ فِي السَّفَرِ عَلَى رَكْعَتَيْنِ وَأَبَا بَكْرٍ وَعُمَرَ وَعُثْمَانَ كَذَلِكَ ؓ