Chazz
Well as far as drinking urine there is no smell that I can detect . the only time it seems to be a problem is with older urine spread on the skin or hair and left there to be absorbed for a few hours then one would bath before going out in public!
But I see your main consideration is the drugs you are on! UT is not reccommended to any one on such dangerous drugs ! You must confront that issue! Be very careful withdrawing off these drugs, many adverse problems have been reported with doing so!
This would be something you must discuss with your doctor or some other professional advice! Xanax being particularly dangerous to withdraw from! But it sounds like you need to really study alternatives to pharmaceutical petrochemical based drug, they are out there! Sorry if this wasnt much help but until you are off these drugs you have to be careful! Chazz