Did prophet Muhammad do this

I saw a hadith about prophet Muhammad being intimate with his concubine, Maria, in his wife Hafsa’s bed. When she saw this he told her not to tell Aisha about it and that he wouldn’t go near Maria again. Is this true and why would he not want Aisha to know about it if it was permissible for him to be with Maria? Also, why would he choose do this on Hafsa’s day and on her bed? Can someone please shed some light on this https://www.altafsir.com/Tafasir.asp?tMadhNo=0&tTafsirNo=73&tSoraNo=66&tAyahNo=3&tDisplay=yes&UserProfile=0&LanguageId=2