Abu Khalid al-Bajli,al-Ahamsi أبو خالد البجلي الأحمسي · The Book of Salah

"I prayed Zuhr with the Prophet (ﷺ) in Al-Madinah, four Rak'ahs and 'Asr in Dhul-Hulaifah, two Rak'ahs."

"Angels come to you in succession by night and day, and they meet at Fajr prayer and 'Asr prayer. Then those who spent the night among you ascend, and He (Allah) will ask them, although He knows best: 'In what condition did you leave My slaves.' They will say: 'We left them when they were praying and we came to them when they were praying.'"