Is it permissible to change one's underwear after performing ablution (wudu') in the bathroom to clothes that may have been touched by something that invalidates ablution, and then pray?

There is no harm in wearing clothes about which there is doubt regarding the presence of something that invalidates ablution, because the original state of clothes is purity. However, if one is certain that clothes have been affected by something impure (such as urine or madhy), it is permissible to wear them outside of prayer if they are dry and the body is dry. But prayer with them is not permissible except after washing the spot of impurity. If the clothes or body are wet, it is not permissible to wear them to avoid the transfer of impurity. And touching impurity with the body does not invalidate ablution.