Does kissing and embracing one's wife lead to the emission of pre-seminal fluid (madhy), and what is the ruling concerning that, and is it obligatory to avoid it for fear of its emission?

It is not permissible to avoid intimacy with one's spouse for fear of seminal discharge (madhy), as its emission is not sinful. Ali (may Allah be pleased with him) used to experience frequent seminal discharge. The Prophet (peace be upon him) commanded him to wash his penis, perform ablution, and sprinkle water on his garment. This is a minor matter that does not warrant avoiding one's spouse.