Is the fluid a person finds after waking up from sleep, which has no color or smell, considered mani (seminal fluid), madhiy (pre-seminal fluid), or bawl (urine)? And is it obligatory to wash the clothes that have been stained by mani or madhiy?

Semen is pure according to the preponderant opinion, so it is not obligatory to wash clothes from its trace. As for pre-seminal fluid (madhy), it is sufficient to sprinkle water on the clothes, according to some scholars. If you are uncertain whether what came out is semen or pre-seminal fluid, you have the choice to assign it the ruling of whichever you wish. Ritual bathing (ghusl) is not required of you unless you are certain of the emission of semen. It is necessary to beware of whisperings (waswas) and from giving in to them.