Ache and sensitivity around left side of base of penis and right side where thigh meets scrotum

The right side where thigh meets scrotum may at times feel dull achey, and sensitive. Touching the area, feels like enlarged vein but visibly you don't really see anything. The left side base of penis shaft, at times feel dull achey, the feeling seems to feel like it's deeper in the tissue behind the groin/pelvis, like have to poke deeper where I can feel base of erect penis inside my groin, not the part that we see sticking out which is our penis. I consulted my PCP/GP about the scrotum thigh issue and she didn't observe any issue, brushed it off as nothing. I consulted urologist about both later and he also brushed it off, saying for the pain just take OTC pain relievers. Both are not painful just somewhat discomforting when it happens. But they don't seem normal to me. Anyone have similar symptoms or know what this kind of thing may be? Attaching photos for reference, with my finger pointing to areas of discomfort.

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So what you have is you have is that you have consulted two physicians for this and they suggest there is no issue of concern, but you still have the dull ache, and the ideal would be you found out what was causing this and helped it go away, permanently. However, the cause of this could have diverse source - from something physiological within you, an actual health condition, or some change of circumstance you have put in place.
Simpler explanations could be, if you are an active person, or perhaps a sporting person - you have over extended yourself training or in the practice of your sport. Perhaps you recently started doing a new excercise, for example? In physiological terms, perhaps you have a hernia of some kind developing.
Can I just check something out a potential simple cause with you that I have experienced myself: have you recently changed the type of underwear / undershorts you are wearing, or perhaps you have changed to any loose fitting shorts? Something like this can have a really simple explanation …

I’m not that active a person in terms of sports/workouts. But I have been wearing different kinds of underwear, not necessarily wearing/trying as new. It can feel achey/sensitive w/o the underwear, but the tighter underwear & pants that go on top can make it feel more pronounced than the loose ones. The feeling can be felt at time while mobile or while sedentary.

The only physical activity I can attribute this to might be dry humping that my partner and I do from time to time.