Cloudy urine and burning after I pee

I’m pregnant, in second trimester. My urine is very cloudy and it doesn’t burn while I’m peeing, only after. I’ve been tested by 2 different doctors, my primary care doc and by labor and delivery at the hospital I’m using, both of which said I don’t have a UTI or anything. I have been told by both of them that my urine was very thick and I’m not drinking NEARLY enough water.

Does anyone know what I can do to help or what might be causing it?