Sunan Abu Dawud
4854
Daif+3

Narrated AbudDarda': The Messenger of Allah (ﷺ) would sit and we would also sit around him. If he got up intending to return, he would take off his sandals or something he was wearing, and his Companions recognising his purpose (that he would return) would stay where they were

DaifAl-Albani
DaifMuhammad Muhyi Al-Din Abdul Hamid