Must the prayer be repeated if one forgets to wash the testicles after prostatic fluid (madhy) is discharged, or forgets to wash the penis and merely performs ablution (wudu')?

The emission of madhy (pre-seminal fluid) invalidates ablution (wudu) and necessitates istinja (washing the private parts) and cleaning only the impurity that has touched the penis, without the need to wash the testicles. If someone prays with madhy impurity, whether forgetfully or out of ignorance, their prayer is valid according to the majority of scholars, though repeating it is more cautious. However, if they pray deliberately with the impurity present, their prayer is invalid and must be repeated.