Welcome to HCM
We understand your concerns
I went through your details. I suggest you not to worry. Semen is a waste product. Body produces sperm whenever it is sexually aroused. Such semen needs to be thrown out of body. If we do not do it through masturbation
or sex, body finds other ways. Emission as droplets through urine, night fall etc are body procedures. Small amounts of semen escape through penis is quite normal and there is nothingn to worry about. Worry only if there is any pain or burning sensation.
Hope this answers your query. Available for further clarifications.