اشْرَبُوا مِنْ أَبْوَالِهَا وَأَلْبَانِهَا
Drink from their urine and their milk.
اسْتَنْزِهُوا مِنَ الْبَوْلِ
Keep yourselves clear of urine.
The former wording concerns a particular reported medical incident; the latter concerns avoidance of impurity. Although both mention urine, their legal contexts and purposes differ. They cannot responsibly be generalized without examining the scope and strength of the evidence.
This is an illustration of historical juristic interpretation, not modern medical advice or a recommendation to consume urine.