Burning sensation and occasional numbness in penis

I'm a 25 year old male who's been experiencing strange penile sensations for about a month. I had an unprotected encounter with a girl who had HPV at one time; but after explaining the encounter and all the other circumstances in great detail, he thought my risk of exposure was incredibly low (98% chance I wasn't exposed). There was no vaginal intercourse, the encounter was brief, and her first in well over a year- her exposure to HPV was many, many years ago. She had no active outbreak of warts or anything at the time, and I have no signs of a wart whatsoever. In any event, the doctor said burning wouldn't be a symptom of HPV to begin with. Just to be safe though, I was tested a couple of days ago in case I was exposed to anything else, but the tests came back clean. It was a pretty extensive screening, I gave blood and urine.

The sensation itself is somewhat complicated. It's not constant and varies in nature and intensity depending on the circumstances. When I wear jeans or something heavy, it feels mostly like a burn, chafe, or rubbing irritation more like the skin. When I lay down in certain positions it also feels like a burn, but if I'm wearing very light clothes like underwear or gym shorts the rubbing sensation is absent. Other times, it feels more like it's my urethra, with a sort of sensitive spot just behind the head. I can feel it if I lightly pinch. There are no signs of abnormal coloration, sores, lumps, or any kind of skin irritation like I'd expect with a yeast infection. I've also done 20 days worth of antibiotics and a 10 days of prednisone for bronchitis since this began. One of the antibiotics was Omnicef, the other Azithromycin... the later said it was used occasionally for bacterial sexually transmitted diseases.

Other than these sensations, I've noticed if I get even the slightest bit aroused I start to discharge small amounts of clear semen, which burns somewhat. For a little while, erections burned, and now it feels like my ejaculate comes out in chunks that scrape the inside of my urethra... it's hard to explain. Sort of like a burn. Don't know if this is important, but I've also had some incontinence and usually dab after urination.

The other day, I bent over really fast to catch my dog, and I felt a slight popping sensation, after which my penis went numb. Sort of like when a limb goes to sleep. It tingled a little before coming back around. I'd never experienced anything like that before, but I swear I felt a sort of popping sensation in my pelvis during ejaculation earlier. No real pain per se, just uncomfortable. I also experience hip/pelvic soreness, as well as lower back and lower abdomen soreness at night when I lay down. Also some soreness in my buttocks, sometimes being more intense around my tailbone and down towards my anus, then to the place directly underneath the scrotum. Sometimes when I'm sitting (I have to spend A LOT of time sitting), it's like an axis of strange pain/soreness that travels through my penis, all the way through my pelvis to my anal area. Unless I'm wearing jeans, the discomfort is usually worse while sitting. But again, it depends on my positioning.

The burning seems to be more pronounced on the left side of the penis. Again, not sure if it's important, but I've got a big nasty scar down the left side of my groin from the orchiectomy. Sometimes it gets kind of sore.

I've been having strange pelvic issues for months now. I went to see a urologist about two months ago due to concerns about my testicle (I only have one, lost left testicle to torsion in 2001), but physical exam, urine test, and ultrasound all came back normal. The thought at the time was a potential neurological issue, but my GP later sort of ruled that out. The doctor suggested a psychological cause, it's been suggested I suffer from generalized anxiety disorder, for which I'm on medication. I've also read that abacterial prostatitis and chronic pelvic pain syndrome can be triggered by severe stress or anxiety. Maybe so, but the symptoms could also be consistent with a neurological problem, couldn't they?

I'm really unsure what I should do or think. If I've ruled out STDs or other urological problems like UTI, kidney infections, or yeast infections, I'm not sure what else could be wrong unless it was neurological, psychological, or maybe something to do with my prostate or general pelvic area. Should my next move be to a urologist, neurologist, or maybe even a chiropractor? Or should I wait it out, see what happens? Any advice would be greatly appreciated.