What Causes Sore Testicles Along With Semen In Urine?

i have had sore testicles lately. lasts for a few hours. then gone for a week or a few days. have noticed semen in my urine sometimes. dont have pain when urinating or ejaculating. no problems stopping urine flow but dribbles afterwards. I am 36 years old. I have muscle imbalances causing hip pain with a mild scoliosis and have trained with weights for years. (twiisted pelvis psoas issues) I believe this caused the imbalances and hip pain but have been reading that tensed pelvic muscles can cause symptoms that i have been experiencing possibly related to enlarged prostate but have not been examined as of yet? any ideas?