Can intrusive thoughts come in urges? Sometimes I feel like I have urges to think of past intrusive thoughts but it’s like I don’t actually want to :/

I deal pretty heavily with this. The last couple days, I’ve had what I think are urges. Something pops into my head intrusively and then what stems from that is me WANTING to just indulge in it even though it’s gross. I get worried bc I used to struggle w thoughts about my dad for a long time until eventually I just purposely thought of him while self pleasuring and got off to it. While that’s something I did, it is NOT me. It all stemmed from my mental health declining a couple years back, I was never this way before. So I get worried that it almost happened or might happen with my pocd cuz I could never live with myself if it did.

Earlier I had what felt like an urge but I’m not sure. I’ve had urges before but this felt different as the object was in front of me (not intentional btw) , I’ve been quite stressed lately and my OCD is latching on to that. I had an urge to harm and within that I had like 2/3 intrusive images that came to mind, I couldn’t rationalise with it, I felt “stuck” when I came out of it I felt scared immediately was trying to work out why I’d even think of doing that & was very upset. A while after I keep getting thoughts like “say your goodbyes it won’t be long until you act out” I cried to my boyfriend and told him everything. How do I know if this was intent vs intrusive urge?

I wanted to ask if it is possible to purposely think of an intrusive thought and then shifting your mind instantly to something else? Is it still an intrusive thought if you have been thinking of it 'purposely' for a second? I dont know how else to explain it, but it felt like I was purposely thinking of it. Anyone else had similar experience what happened during intimate moments like masturbation I feel so ashamed cuz the thoughts are so bad they're either about family members children and stuff like that it feels like I think it I just want to know if I'm not alone I feel like a monster because it feels like I thought these things or like I did think these things and I don't know what to do I feel so ashamed and grossed I need help I just want to know if anyone had a similar experience to shed light on because I don't know I feel so isolated