What is the ruling on undoing braids of hair during the ritual bath?
It is not a condition to undo braids if the water reaches all the hair and penetrates to its base. If the water does not reach except by undoing the braids, then it is obligatory to undo them for the water to reach. And Allah the Almighty knows best.
What is the ruling on offering an Udhiyah on behalf of another with their permission?
Praise be to Allah, and peace and blessings be upon our master, the Messenger of Allah.
It is permissible for a person to offer a sacrifice (Udhiyah) on behalf of someone else with their permission, even if the person performing it has not offered a sacrifice for themselves. It is stated in Sharh Manhaj al-Tullab (Vol.5/P.261) by Zakariya al-Ansari: "No one may offer a sacrifice on behalf of another without their permission... as opposed to when permission has been granted." And Allah the Almighty knows best.
What is the ruling on sacrificing a castrated animal or one with a missing tail?
Praise be to Allah, and peace and blessings be upon our master, the Messenger of Allah.
It is permissible to sacrifice a castrated sheep; as it has been established that the Prophet (peace be upon him) sacrificed:
"...two large, fat, horned, white-and-black, castrated rams (Mawju'ayn—meaning having crushed testicles)." [Narrated by Ibn Majah in his Sunan].
It is not permissible to sacrifice an animal that is missing its tail, rump, or udder due to being cut off. This is in contrast to an animal that was naturally born without a tail, rump, or udder; such an animal is valid for sacrifice. And Allah the Almighty knows best.
Is it permissible for a woman to wear underwear while performing Umrah?
Yes, it is permissible for a woman to wear underwear while performing Umrah. This is because she should keep her regular clothes that cover all her body while being in a state of Ihram (ritual consecration) for Hajj, or Umrah. However, she should uncover her face and hands, but it is permissible for her to let her head-covering garment drape from her head down over her face when non-Mahram (i.e., marriageable) men pass by her. And Allah Knows Best.