I know that Ibn Masoud prayed in the masjid alone for this reason.

However, the majority of scholars say that it is permissible to pray 2nd congregation in the masjid and this is the most authentic opinion

Is there any hadith where Ibn Masood(or any other Sahabi)returned home from masjid for praying his fard salaah once he saw the congregation at masjid is over? As he didn’t want to pray 2nd Jamaah in the masjid. If so what is guideline?