This is not a new condition but has been your whole life? What has your doctor said about it as I'm sure you've had your fair share of physicals? There is something called buried penis. Do you think this cold be your situation? It can be present at birth. https://my.clevelandclinic.org/health/diseases/16291-buried-penis Can you urinate while standing?
Oh my that sounds painful, I don't know exactly what that means.