O believers! Let those ˹bondspeople˺ in your possession and those of you who are still under age ask for your permission ˹to come in˺ at three times: before dawn prayer, when you take off your ˹outer˺ clothes at noon, and after the late evening prayer. ˹These are˺ three times of privacy for you. Other than these times, there is no blame on you or them to move freely, attending to one another. This is how Allah makes the revelations clear to you, for Allah is All-Knowing, All-Wise.
— Dr. Mustafa Khattab, the Clear Quran
O you who have believed, let those whom your right hands possess and those who have not [yet] reached puberty among you ask permission of you [before entering] at three times: before the dawn prayer and when you put aside your clothing [for rest] at noon and after the night prayer. [These are] three times of privacy1 for you. There is no blame upon you nor upon them beyond these [periods], for they continually circulate among you - some of you, among others. Thus does Allah make clear to you the verses [i.e., His ordinances]; and Allah is Knowing and Wise.
— Saheeh International