"The Messenger of Allah ﷺ used to pray voluntary prayers (Usabbih) while riding his mount, facing whatever direction it was facing, and he would pray Witr likewise, but he would not offer the prescribed prayers on it."
كَانَ رَسُولُ اللَّهِ ﷺ يُسَبِّحُ عَلَى الرَّاحِلَةِ قِبَلَ أَىِّ وَجْهٍ تَتَوَجَّهُ وَيُوتِرُ عَلَيْهَا غَيْرَ أَنَّهُ لاَ يُصَلِّي عَلَيْهَا الْمَكْتُوبَةَ