What is the ruling regarding a person who used to not pray, and Allah guided him, but he suffers from urinary incontinence, which makes him ashamed to go pray at work despite his repeated attempts to seek treatment?

It is not permissible to delay prayer until its time has expired due to embarrassment for someone who suffers from urinary incontinence, because this is a matter beyond their control, and everyone is susceptible to being afflicted by it.