Three weeks in and I still cannot use a urinal without regretting it

Three weeks in. Everything else has been easier than I expected. This one thing has not.

At home it is fine because I sit down and nobody cares. At work there are three urinals and two cubicles and the cubicles are always occupied at the times I need them, and twice now I have come out of there aware that I have not got away with it.

Does this get better with practice or do people just permanently sit down?