Allah did speak to our Prophet Muhammad (ﷺ) during the Israa’ and Mi’raaj directly with His own voice and not that of Jibreel’s. He spoke to him directly without Jibreel passing him the message, just like He had spoken to Musa alayhi salaam.The Prophet (ﷺ) mentioned regarding the Mi’raaj:
“Then Allah enjoined fifty prayers on my followers when I returned with this order of Allah, I passed by Moses who asked me, ‘What has Allah enjoined on your followers?’ I replied, ‘He has enjoined fifty prayers on them.’ Moses said, ‘Go back to your Lord (and appeal for reduction) for your followers will not be able to bear it.’ (So I went back to Allah and requested for reduction) and He reduced it to half. When I passed by Moses again and informed him about it, he said, ‘Go back to your Lord as your followers will not be able to bear it. So I returned to Allah and requested for further reduction and half of it was reduced.’ I again passed by Moses and he said to me: ‘Return to your Lord, for your followers will not be able to bear it. So I returned to Allah and He said, ‘these are five prayers and they are all (equal to) fifty (in reward) for My Word does not change.’ I returned to Moses and he told me to go back once again. I replied, ‘now I feel shy of asking my Lord again.’
Ref: Sahih Bukhari 349 ; islam360
Ibn Hajar says commentating on this Hadith: “This is the strongest evidence that has been used to prove that Allah spoke to His Prophet Muhammad (ﷺ) the night of the Israa’ without an intermediary.”
Ref: Fath al-Bary by Ibn Hajr
Ibn Katheer says: “”Among them were those to whom Allah spoke,” meaning, Musa and Muhammad, and also Adam according to a Hadith recorded in Sahih Ibn Hibban from Abu Dhār.”
Ref: Ibn Katheer mentions in the tafseer of the verse 2:253