Does failing to verify the smell and color of madhiy prevent it from being given the ruling of madhiy, even with knowledge of its other characteristics?

We advise you to cast aside these whispers (waswas (definition)) and completely disregard them. Your judgment that the discharge is madhiy (pre-seminal fluid) is correct, because it is a fluid that exits without gushing, pleasure, or arousal. There is no need to investigate its color or smell. If this discharge were semen and exited without pleasure, ghusl (definition) (ritual bath) would not be obligatory according to the majority of scholars, which is the preponderant opinion. Madhiy is impure (najis) and invalidates wudu (ablution), and considering it madhiy absolves one of responsibility.