What is the ruling regarding the Dhuhr, Asr, and Maghrib prayers that were missed because clothes became involuntarily soiled with urine and it was not possible to change them? And must they be made up?

If you have missed prayers, you must make them up immediately, and repent to Allah if their ترك (abandonment) was intentional. Impurity must be removed immediately before prayer by washing its location with water. Whoever prays with impurity intentionally and knowing of its existence, their prayer is invalid and must be repeated. However, if one prays with it out of ignorance or forgetfulness, there is no need for repetition. As for one who is unable to remove the impurity and prays with it, the preponderant opinion is that repetition is obligatory.