We used to practise 'azl during the lifetime of Messenger of Allah ﷺ. This (the news of this practise) reached Allah's Apostle ﷺ, and he did not forbid us.
كُنَّا نَعْزِلُ عَلَى عَهْدِ رَسُولِ اللَّهِ ﷺ فَبَلَغَ ذَلِكَ نَبِيَّ اللَّهِ ﷺ فَلَمْ يَنْهَنَا