Messenger of Allah ﷺ never missed two rakʿat before the Fajr prayer and after the ʿAsr prayer openly and secretly.
رَكْعَتَانِ لَمْ يَكُنْ رَسُولُ اللَّهِ ﷺ يَدَعُهُمَا سِرًّا وَلاَ عَلاَنِيَةً رَكْعَتَانِ قَبْلَ صَلاَةِ الصُّبْحِ وَرَكْعَتَانِ بَعْدَ الْعَصْرِ