The report of ‘Abd Allah ibn Zayd says of the Prophet ﷺ:
وَصَلَّى رَكْعَتَيْنِ، وَجَهَرَ فِيهِمَا بِالْقِرَاءَةِ
Translation: He prayed two rak‘ahs and recited aloud in both.
This report directly supports the two-unit prayer with audible recitation, the basis of the position held by Abu Yusuf and Muhammad.