All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad is His slave and Messenger.
You must shun these whispers and not pay any attention to them, and avoid asking detailed questions about Istinjaa’ (purifying the private parts using water and other means) and the like. It is enough for you to pour water on the place of impurity until you predominantly believe that that impurity is removed.
As regards the water that you find on your underwear, then it appears that it is due to performing Istinjaa’ and it is not something that came out from the inside of your penis; so it (that water) is ruled to be pure.
This water does not invalidate ablution unless you are certain that it came out from the inside of your penis. In addition, you do not have to purify your clothes from it.
Nonetheless, if you are certain that it came out from the inside of your penis, then, in this case, it invalidates ablution and is impure, so you must perform Istinjaa’ from it and purify your clothes. But as we have mentioned, it appears that it is the water that remained on your penis when you had performed Istinjaa’.
However, when you only doubt the issue of purity, then you should not pay any attention to such doubts.
For more benefit, please refer to Fataawa 170735, 271426, 288808, and 321763.
Allah knows best.