"When we were with the Messenger of Allah ﷺ on a journey, he told us not to take them off for three days except in the case of Janabah, but not in the case of defecation, urinating or sleep."  

صَفْوَانُ بْنُ عَسَّالٍ كُنَّا إِذَا كُنَّا مَعَ رَسُولِ اللَّهِ ﷺ فِي سَفَرٍ أَمَرَنَا أَنْ لاَ نَنْزِعَهُ ثَلاَثًا إِلاَّ مِنْ جَنَابَةٍ وَلَكِنْ مِنْ غَائِطٍ وَبَوْلٍ وَنَوْمٍ