Zakariyyā al-Anṣārī (d. 926)

it is recommended to do Tawassul and Tashaffuʿ through the Messenger ﷺ during Ziyārah

It is recommended for those visiting the Noble City to increase their prayers and salutations upon the Prophet. When they see the sanctuary of the city and its trees, they should increase in this, and they should ask Allah to benefit them from this visit, accept it from them, perform ablution before entering, wear their cleanest clothes, and when entering the mosque, head towards the Rawdah, which is between his grave and his pulpit, and pray the greeting of the mosque next to the pulpit. After completing it, they should thank Allah for this blessing, then stand facing the Qibla, facing the noble grave, and stand about four arms' lengths away, looking downwards with a heart free from worldly distractions, greet without raising their voice, saying at least: "Peace be upon you, O Messenger of Allah," then move to their right about an arm's length and greet Abu Bakr, then move to the right again and greet Umar, may Allah be pleased with them both, then return to their original position facing the Prophet and intercede for themselves and seek his intercession with their Lord. They should then face the Qibla, supplicate for whatever they wish for themselves and the Muslims. When they intend to travel and leave the mosque, they should offer two units of prayer, visit the noble grave, and repeat the initial greeting. Fath Al-Wahhab, Vol. 1, p. 17.

"In Al-Wahhab with an explanation of the students' curriculum by Sheikh al-Islam Zakariya bin Muhammad bin Ahmad bin Zakariya al-Ansari"