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slight burning of the penis and tip of the penis usually is not a worry.
drinking alcohol, caffeine, not drinking enough water can cause mild burning of the tip of the penis.
using shower gel and body washes and not rinsing off well enough can leave a bit of soap residue on the tip of the penis and cause some milk burning.
usually this is not a sign of STD or sexually transmitted disease.
let me know if you have questions.
some condoms have spermicide in them and that spermide can cause irritation of the tip of the penis.