Are my body and clothes ritually impure due to madhy (pre-seminal fluid), and is ghusl (ritual bath) obligatory to remove the impurity, and is everything I used or touched considered impure?

We advise those afflicted with obsessive whispers (waswas) to turn away from them and not pay them any attention. If you doubt the emission of madhi (pre-seminal fluid), do not pay attention to the doubt, and do not investigate its emission. If you doubt whether the discharge is madhi or ordinary moisture, consider it ordinary moisture. If you doubt the transfer of impurity from one place to another, the default is that it has not transferred, and do not rule that it has transferred except with absolute certainty. There is no impurity on your body or on what you have touched. You are not required to wash any part of your body unless you are absolutely certain that it has been afflicted with impurity, and in that case, you are only required to wash the specific impure spot.