Hadith #3440 (Jami' al-Tirmidhi)
Book: Chapters on Supplication
Narrator(s): Anas ibn Malik, Byan bin Bashr al-Ahmsi بيان بن بشر الأحمسي, Umar bin Isma'il bin Mjald عمر بن إسماعيل بن مجالد

When the Prophet would return from a trip and see the walls of Al-Madinah, he would speed up his riding camel, and if he was upon a beast, he would agitate it, out of his love for Al-Madinah.

Source: https://parallelquran.com/hadith/jami-al-tirmidhi-3440/