I don't have uti, but a burning and tingling in the glans penis on the inner side, I remember that one night I ejaculated with a semi hard erection?

Tingling Urethra. Hi there could be a few explanations for your symptoms, especially if you are sexually active. I doubt that your symptoms are happening because of the way you ejaculated. One must make sure that this is not herpes, chlamydia or gonorrhea. I would hope you could find a good local medical provider to provide judgement free medical advise for you.