The Messenger of Allah (ﷺ) made a concession in the early days of Islam on account of the paucity of clothes that one should not take a bath if one has sexual intercourse (and has no seminal emission). But later on her commanded to take a bath in such a case and prohibited its omission.
Reference: Sunan Abi Dawud 214 In-book : Book 1, Hadith 214 English translation : Book 1, Hadith 214
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