Is there a concession for changing the diaper with every prayer for one who suffers from urinary incontinence, due to embarrassment when outside the home?

Purity from defilement (khabath) is a condition for the validity of prayer (ṣalāt). Therefore, the prayer of one who prays with an unforgivable impurity is not valid, as long as they are able to remove it. The questioner must purify herself and change the diaper for prayer. She can replace it or wash it in the bathroom, perform ablution, and pray.