Is it true that the Messenger of Allah, may Allah bless him and grant him peace, taught the Companions the Sufi paths (Sharia, Tariqa, Haqiqa, Ma'rifa) with the same meaning that these paths hold for Sufis?

The name "Sufism" is derived from the wearing of wool (suf), not from other sayings. Sufism did not appear until after the three favored generations. The Sufi orders, such as the Shadhiliyya and Khalwatiyya, are innovations (bid'ah) and contravene the Qur'an and Sunnah, as Allah has perfected the religion. Anyone who introduces an act of worship or a method not sanctioned by the Sacred Law is gainsaying what Allah has said and accusing the Prophet of betrayal. There are no multiple paths in Islam; rather, there is one straight path: following the Qur'an and Sunnah and what the Prophet, peace and blessings be upon him, and his companions were upon.