There is a possibility you are not drinking enough water. Try drinking lots of water in a day or two and see if there is a difference.

norma

dark coloured urine usually means you are dehydrated and not drinking enough.

cloudy urine is often an indication of a bladder /urinary tract infection. however you say you have had this for years...... perhaps it is just normal for you if it has carried on this long with no other symptoms. if it of concern to you, a trip to the doctor's would do no harm.