It’s reassuring that all the tests from the urologist were ok for infection. You did have a 5mm renal cyst though, so maybe this could be acting as an irritant causing the cloudy urine?

I found a good article for you that helps explain milky urine. From the by Cleveland Clinic, “Cloudy urine is generally harmless but frequent and repetitive cloudy urine could be a sign of a medical condition.”
https://my.clevelandclinic.org/health/symptoms/21894-cloudy-urine
You mentioned it’s only occurring in the morning and clears up with more water so maybe that’s a good place to start, with more water during the day. That keeps the kidneys flushed and happy.

If this becomes more persistent or doesn’t go away as the day goes on, it might be a good idea to have another urine test run with a 3-day culture instead of a rapid dipstick to make sure there isn’t a chronic UTI situation. Did you mention the cloudy urine to your urologist? Is this a newer development for you?