Is it bad for my urine to be dark?

Simple question right? But there's a kind of long backstory, Last week, or maybe the week before I went to a new steak house in my city (both of which will remain unnamed) and had a 8oz Sirloin Steak, it was delicious but a little too undercooked for my liking (I asked for it medium rare but it was more blue) and lately my urine has been very dark, has stung a little bit whenever I "go". Has anyone else experienced this kind of "symptom"? If so, what happened? Does it go away after a while or does it persist? Please answer soon as I consider this relatively time sensitive.

P.S. should i go to a doctor ASAP or should I wait? :)