Does the emission of clear fluid after touching the vulva necessitate ghusl, and must the prayers performed without ghusl be made up?

You must repent to Allah from the forbidden masturbation. If semen is discharged, ghusl (ritual bath) is obligatory. If it is madhy (pre-seminal fluid), ghusl is not required. If you are uncertain about the discharge, you have a choice. If ghusl became obligatory and you did not perform it, there is a difference of opinion among scholars regarding the re-performance of prayers. Performing them as a make-up is more cautious and absolves one's responsibility.