Should I consult a doctor?

I have recently developed light-pinkish, soft bumps on the head and upper shaft of my penis. I don't know what they are and I can't find any similar picture on the internet. It doesn't fit the description of herpes, and it would be very unlikely I think because of the following:

• I have been married for 7 years and have been faithful. None of us has had genital issues. Also we haven't had sex in almost a year.
• The bumps do not hurt, even when touched. They do not itch.
• The penis isn't any more or less sensitive than it was before.
• There is no discharge.
• It does not hurt when I pee.
• The bumps are limited to the top part of the glans and the top part of the shaft. There aren't any on the underside, the testicles, or the lower abdomen.
• They appeared out of nowhere and have been there for about a week with no real change.

I do masturbate, usually once a day, and I thought maybe it's some form of irritation? I tried not touching it for 72h and there wasn't any discernable change.

Is this something I should be worried about? At this point, it's more about the visual of it than anything, but they are bothering me.

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