[jojocomok]

Wa alaykumu s-salam.

I know how you feel because I've been through this before.
When you're urinating, you just have to make sure that your urine is totally urinated till you feel like you urinary bladder is empty.
If you feel like there's still urine left, tab your private part two or three times.
Or just hold your private part and move it up and down in speed (it works for me). The last drop will fall.
After that, just wash it and just perform your wudu.

While praying, if you think that there's still urine left, what you do is, get down for ruku and sujud slowly.
And when you get up, get up slowly. It works for me.

Wallahu a'lam.