Is the automatic washing machine cycle, which includes washing with soap and one or sometimes more draining cycles, sufficient for purifying clothes, especially if they contain impurities? And does this purify clothes contaminated with urine, or must they be washed twice?

Washing with water is sufficient to purify clothes from impurity if its trace is removed. Scholars have differed regarding the removal of impurity by water that has been altered by soap. The questioner suffers from waswasah (obsessive whispering), and it is recommended to adhere to supplication and humble entreaty, to distract oneself from the whispers, and to consult a trusted psychiatrist.