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this is Dr. David
a warm sensation doesn't point to an STD
it could be just dry skin or dermatitis
did you use a condom?
drinking alcohol or caffeine can irritate your urethra and cause sometimes burning sensations when you urinate.
using very drying soaps like antibacterial soaps or body washes can dry your skin of the head of the penis.
let me know if you have questions.
have you tried to change your soap to a moisturizing soap like Dove? that might dry your skin less and decrease this burning