rice sized hard lump on testicle,please advice what to do next

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hi all im new here,im glad to  found this supportive forum,i hope if somebody can advice me correctly i really dont know what do more.
I accidentally noticed a lump on my testicles,lump is rice sized maybe half rice, or  pin head , its really hard as rock,lump location is on top of the testicle,but not at epydidimis,just next to it,its looks like is attached to testicle.


I immediately went to the urologist for examination and ultrasound,doctor was able to palpate lump bit not concerned at all,and did a ultrasound scan an US show nothing,apsolutley nothinq,my testicles are healthy without lumps.
next few days i went to next specialist ,for exam and US scan, this second doctor also can not find anything on ultrasound,and he told me ,to not worry.
i again booked new examination by a doctor next specialist and ultrasound ,same thing, he found small cyst on testicle itself but i think he is not sure if it was cyst,nothing suspicious and he told me im ok.


then i booked finaly my last US exam at next urology specialist with last gen ultrasound device.
he felt my lump but on ultrasound my testicles are perfectly fine without any cyst or lump on testicle itself.
doctor was very kind and he is tried to find my lump on at any angle and position,exam was last 30 min trying to find spot,no issues ,no patology all perfectly find.

i done all tumor markers and all clear.

sorry for long story,but my lump is there but US show nothing and all doctors specialist told me this is not cancer and not to worry.
my questions are.

my lump feels like on surface of testicle not epydidimis,i read online that lumps are on testicle are most likely bad.

can i have cyst on testicle surface and still to be benign?
does ultrasound is able to catch that kind of lumps?
doctor said that testicles is 100% visible on US? and if i have something he is able to catch it.
can testicular cancer missed by ultrasound?
can i belive my doctors and move on with life?

sorry for grammar errors,im realy under huge stress while typing this question.

thanks in advance,god bless you all.