Is it permissible to pray with sleeves rolled up, and what is the evidence for that, taking into account what was narrated in Sahih al-Bukhari concerning the sighting of Bilal and the Prophet (peace and blessings be upon him)?

Rolling up the garment during prayer is disliked by the general body of scholars, whether it be the sleeves or the hem. This is a disliking of tanzih (mild disliking).

The Malikis made an exception if the rolling up was part of the worshipper's usual attire before prayer or for another purpose. As for the hadith, "He went out in a garment, rolled up," it is possible that he did so to show permissibility, or that he let down his garment before prayer, or that the rolling up was to lift the hem of the garment above the shins, not the sleeves, which is permissible during travel or out of necessity.