Imam Bukhari narrates: Muhammad bin Bashshar narrated to us, he said: Ghundar narrated to us, he said: Shu'bah narrated to us, he said: I heard Amr bin Amir al-Ansari from Anas bin Malik al-Ansari, may Allāh be pleased with him, he said that

when the mu'adhdhin gave the Adhan, the companions of the Prophet ﷺ used to rush to the pillars, until the Prophet ﷺ came out (from his room), and they would be praying two rak'ahs before the Maghrib in this way, and there was nothing between the Adhan and the Iqamah.

Uthman bin Jablah and Abu Dawud narrated from Shu'bah that there was a very short interval between the Adhan and the Iqamah.