Is it permissible to repeat the Istikhara (seeking guidance) prayer, and is it a condition that one should sleep after offering it?
All perfect praise be to Allah,The Lord of The Worlds Istikhara is offered once, but it is permissible to repeat it, and sleeping after offering it is not a condition for its validity. And Allah Knows Best.
Do certain vaginal discharges and incontinence of urine nullify ablution, and should underwear be changed?
A person afflicted with constant impurity due to urinary incontinence and vaginal discharges is obliged to make ablution for every obligatory prayer when its time is due, and after removing Najaasah (impurity), and wearing a clean diaper. He/she is obliged to pray immediately even if the impurity is being released, and he/she is obliged to remake ablution, and the aforementioned for every obligatory prayer.
Is my son who was breastfed one filling time by my aunt considered a brother to her children?
The baby who was suckled five sporadic times by a woman is considered a son/daughter of hers.
I suffer from absentmindedness and constant worries during prayer, what should I do?
You should take refuge in Allah from the whispers of the devil and life worries. You should also seek Allah`s help and offer a lot of Istigfar (seeking the forgiveness of Allah). And Allah Knows Best.