Is it necessary to wash the penis and cleanse it of madhy (pre-seminal fluid) after foreplay and fondling, and before penetration?

There is no text stating the obligation to wash the private parts for someone who fondled his wife and emitted madhiy (pre-seminal fluid). Rather, a text was transmitted regarding washing madhiy if it gets on clothes or the body. The Prophet used to wash his private parts before performing the full ghusl (ritual bath) after intercourse.