Is what happened—the husband imagining another woman while caressing his wife, and semen being discharged without penetration or friction—considered masturbation and a breach of repentance?

Enjoying one's wife in the manner mentioned is permissible and not considered masturbation, except for the issue of imagining another woman. We have previously clarified its ruling, and there is a difference of opinion on it. The majority view its prohibition for reasons that do not include it being considered masturbation. We ask Allah to accept your repentance from masturbation and to help you remain steadfast.