My go to washable underwear for catching daytime leaks and dribbles are the Carer M66 briefs. The underpant is soft and comfortable, form fitting with a nice pouch for men's anatomy. Absorbency is perfect for my light dribbling during the day; while not being bulky at all. It definitely looks and feels like underwear and could go unnoticed in any environment unless you take them off revealing the white absorbent pad inside. Pad covers the front, and partially up the back to catch leaks when sitting or laying down as well as when active. I like these pants a lot!
https://bit.ly/3875jei