chipster: I have exactly the same symptom. First noticed it in my late 20's to early 30's. I'm 47 now and it hasn't gotten any worst. I mentioned the symptoms to my Doc at an annual check-out. She didn't seem to think it was a problem, but I haven't been to a Urologist specifically for this.
I deal with it this way; rather than shake, I take my time, give a couple of good squeezes with my PC muscles, then reach under my balls and push up to force urine out of the low spot behind the scrotum. (I read this in "Men's Health" magazine). Finally I "milk" the shaft a couple of times and that seems to do the trick.
This all takes longer and is somewhat more conspicuous than one shake and tuck it in, but for me it's much preferable to visible spots or damp underwear.