Is it normal to have irritation/itchiness on your urethra/tip of penis, male 28? no burning when peeing, no discharge?

This is a non-specific symptom of any irritation/ inflammation of the area. Try otc cortisone ointment and if not better in a few days pl see a Urologist.

Could be irritation from detergents used to wash underpants or pajamas. Also some soaps could cause this. See a dermatologist for an answer, no need to see a urologist since urination is natural.