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sometimes some mucous or a small amount of semen can end up in the urine.
sometimes you can have a bit of blood with semen as the blood vessels are very close to where the sperm is made in the testicles.
a one time event like this usually is not a worry
let me know if you have questions.
yes, semen or mucus in your bladder can irritate it
also alcohol, caffeine, not drinking enough water can irritate the bladder as well
anxiety can cause nervous bladder symptoms and cause you to have to urinate more frequently.