I can't seem to empty my bladder fully, sometimes ill hafta learn over a bit to get it all out. Dr says urinalysis, blood is normal.

Confirm it... Feeling not emptying bladder well but with normal urinalysis and blood tests is nothing unusual; the abnormality in urine &/or blood tests, if any, result from the add-on effects related with bladder distention such as UTI and backup pressure to kidney over time. For your current state, go to see urologist timely with more hx, physicals, &tests to confirm if you indeed got an emptying bladder.