Most people can't taste it at all. And let's celebrate its 'invention' by the mammals so many million years ago as a brilliant solution to the problem of how to temporarily store and then excrete nitrogen in a harmless way as against the uric acid route used by birds and reptiles. People who have a test for the nasty H. pylori bug swallow a solution of urea and find it tasteless as far as I'm aware.
Or expose it to warm temps in a lot of industrial processes?
It's a distinction without meaning, urea based products like DEF end up smelling like pee/ammonia. Laypeople usually specifically compare it to a cow urine smell