Ibn 'Abbas (Allah be pleased with them) is reported to have said that he did not see Messenger of Allah ﷺ touching other than the Yamani corners. (Using translation from Muslim 1269)
أَنَّهُ حَدَّثَهُ أَنَّهُ سَمِعَ ابْنَ عَبَّاسٍ يَقُولُ «لَمْ أَرَ رَسُولَ اللهِ ﷺ يَسْتَلِمُ غَيْرَ الرُّكْنَيْنِ الْيَمَانِيَّيْنِ»