Thanks for providing more information.
Firstly i agree with your doctor as tingling sensation at tip of penis'll improve over the time.
And you may not require any treatment.
Tingling sensation can be caused due to irritation of nerves due to rough sex and compression at lumbosacral spine.
It's good that your lower back pain has gone.
So your symptoms'll resolve in next few days.
If your symptoms'll persist for more than 2 weeks then Urinalysis,X-ray/MRI of lumbosacral spine can be advised.
Otherwise as you have no associated burning sensation,pain, chances of infection are less.
I hope this helps.
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