Did the Messenger, may God's prayers and peace be upon him, command spouses to perform ghusl together even once in their lifetime?

It has been authentically established in the Sunnah that the Prophet (peace be upon him) would bathe with some of his wives from a single vessel, such as Aishah, Maymunah, and Umm Salamah (may Allah be pleased with them).

These hadiths indicate the permissibility of a man and his wife bathing together from a single vessel, which is a matter permissible by the consensus of Muslims.

The Sunnah does not state that the Prophet (peace be upon him) commanded spouses to bathe together, but his action (peace be upon him) of doing so with his wives is sufficient to prove its permissibility.