Is this normal?

I am 35w. I was checked for a uti and some other infections and they all came back negative.

Sometimes it feels like I can feel, ok the best way I can describe it is that it feels like I can feel the baby’s hair, like the texture or almost like a beard stubble (obviously baby doesn’t have stubble, but that’s what it feels like haha 😂) is touching my bladder or urethra. It hurts sometimes, and is worse when walking or standing up.

Anyone else experience this? Does this mean labor will be pretty soon? Should I be concerned?