What is the ruling on the fluid that exits frequently from the male organ and stains clothes, and is it considered سلسًا (incontinence)? And how can one deal with doubt concerning purity and prayer in this situation, given the desire for a less burdensome method to continue praying?

If you are certain that something has exited but are unsure whether it is semen (mani) or pre-seminal fluid (madhiy), you have the choice to consider it semen and perform ghusl (ritual bath), or consider it pre-seminal fluid and perform wudu (ablution) and wash whatever your body it has touched. This is not considered incontinence unless it is continuous. To purify clothes from pre-seminal fluid, it suffices to sprinkle water on them; changing clothes is not necessary. It is not obligatory to inspect to confirm if something has exited, as the default is that nothing has exited. It is sufficient for you to act upon this default until certainty of the opposite is achieved. If you are certain that something has exited, you must perform wudu and purify whatever the exudate has touched. If you are unsure of the exact time it exited, attribute it to the latest possible time it could have exited. This is supported by the possibility of satanic whispering; therefore, do not inspect unless you are certain, with absolute conviction or strong probability, that something has exited. Touching the private parts absolutely nullifies ablution.