If you have a smelly yellow discharge you need to see your GP for a swab. I honestly don't think it's wee. If it were, all your wee would come out that way- so it would be litres over the day and this would have been seen on the urodynamic test.
You need to be referred to a gynae, one who is interested in pelvic floor and menopause issues. Look p your local private hospital(s) and look at who they have (on their website) do some digging into their experience and ask for a referral. (I've had private care for over 30 yrs and choose my specialist depending on their expertise.)
I've had prolapse repairs. Don't take the word of a nurse - saying you have or have not got a prolapse. It took 2 drs and 2 gynaes with me before the 2nd one said I had. In your case, it might be something quite mild like your urethra being out of position so the urine drains out more easily.
Uros are not the best for spotting this kind of thing- you need a gynaecologist.
You could also have a mild UTI, and overactive bladder, all adding to the issues, as well as needing HRT which would help support your pelvic floor and take away the urge incontinence (you need vaginal estrogen cream for this.)
You've not said whether you feel the urge to go and wet yourself, or if it's a constant slow dribble, or it only happens under pressure (weak pelvic floor muscles.)
If it's all of them, each needs a different treatment.
On top of that, your aches and pains, sweats, etc etc sound like hormonal peri issues.
You have to push for the right support from the right drs- don't accept one opinion or be palmed off. No need to live like this and be housebound due to it. 