Rubbing penis against bedding regularly, drenched underwear. Worried

Hi Doctor...i think i have traumatic masturbating syndrome and i rub my penis against the bedding every night (since 5 years) to ejaculate within say 10 minutes with my underwear on. after the ejaculation i feel sleepy and i sleep with the same semen drenched underwear. in the morning i generally get up late and only then change my underwear. I know i have to change the way i masturbate but i just wanted to know that the drenched underwear in semen which i wear for like another 12 hrs after i ejaculate is going to create any problem. i am very worried doctor. Kindly give me a response. i would be extremely thankful.