What is the ruling on involuntarily passing drops of urine due to prostate congestion? And is it obligatory to interrupt the prayer, perform a full ritual bath (ghusl), and change all clothes, or is it sufficient to wash the affected area and change the underwear? And is there any sin incurred by the emission of those drops during prayer?

The discharge of urine drops, whether intentional or unintentional, during prayer invalidates both ablution (wudu') and the prayer itself. Whoever experiences this must withdraw from the prayer, wash away the impurity, perform istinja' (cleansing after urinating/defecating), make wudu' again, and repeat the prayer. This is unless it reaches the extent of سلس (incontinence), in which case it has a different ruling. It is not necessary to wash the entire body or clothes, but only the part affected by the impurity. It is advisable to designate specific clothing for prayer. There is no sin in the discharge of drops. What is required is to interrupt the prayer and repeat it after performing wudu' and istinja' if one is not incontinent. However, if one is incontinent, they should continue their prayer without paying attention to what exits, for: "Allah does not burden a soul beyond its capacity," and "He has not placed upon you in religion any difficulty."