Yes, the urgency will pass. By induction 4-12 for me, I remember I wouldn't venture out of the house for a day as once it hit, I had about 15-20 seconds to locate the restroom. The second day after, I could travel but, I always had my eye on where a restroom was.
If you are into the 3rd round of maintenance, pat yourself on the back. Many do not get that far and very few actually complete the prescribed 5 year program. Nothing says you have to finish this especially if you ruin your bladder in the process. As you are 4 months past the last course you may be at that point. What does your Doc say when he does the cystoscopy? Is the bladder still irritated? Does the team have any other advice?