Is it permissible to offer Tahajjud prayer after Witr prayer?

It is permissible to offer voluntary prayer after Witr (An odd number prayer performed between Isha and Fajr) prayer. However, it is desirable that the night prayer be ended with Witr. Therefore, it is desirable for one, who thought that he was most probably going to wake up at night in order to offer Tahajjud, to offer Witr after it, but one, who fears that he might not wake up, should offer Witr before going to bed.

What is the ruling on shaving one`s beard?

All Perefct Praise is due to Allah The Lord of The Worlds.

Growing a beard is an obligation and a Muslim shouldn't do otherwise, besides; what is obligatory in Islam shouldn't be violated save for a necessity. And Allah Knows Best.

Is it permissible for one to masturbate in order not to commit fornication?

This is called committing the milder of the two evils such as eating a carcass in fear of death, and this happens when committing fornication is very likely to occur.

Is a woman`s prayer considered invalid if non-Mahrams (marriageable men) saw her offering it?

A woman`s prayer isn`t invalidated if non-Mahrams saw her offering it, but she had better pray in isolation.