Does touching the private parts with a barrier (clothing) during foreplay invalidate ablution, even if without desire, and is it obligatory to repeat ablution in this case?

If a man touches his penis or a woman touches her vulva, their ablution (wudu') is nullified, based on the Prophet's (peace be upon him) saying: "Whoever touches his penis, let him not pray until he performs ablution," and "Any woman who touches her vulva, let her perform ablution." As for a man touching a woman's vulva or a woman touching a man's penis through a barrier, this does not nullify ablution according to the majority of scholars, unless something is discharged. This is because it falls under the category of touching a woman, not touching the private part directly.