It is clear that in the twenty first century, people, especially intoxicated people, occasionally urinate in inappropriate places. There's no reason to believe that people were any different a few hundred years ago.
However, several centuries ago it was not normal to urinate on curtains
The sanitary needs of Tudor courtiers at Hampton Court Palace were met in a variety of ways. The lodgings of the senior members of the court, such as those in Base Court, had their own garderobe shafts. Some used piss-pots, like the Tudor pot excavated and displayed at Hampton Court (still containing traces of Tudor urine). Lower-ranking members of the court would use the ‘common jakes’ in the south-west corner of the palace, later known as the Great House of Easement, where lavatories drained via the moat into the river. Fourteen people could be seated here simultaneously.
From Historic Royal Palaces
Toilets on two levels over the river Skell at Fountains Abbey, a Cistercian monastery founded in 1132.
As for "not have time to bathe thoroughly" - probably nobody bathed in a way that would be considered thorough today. Not for lack of time but simply because it wasn't thought necessary.
everyone stank, no one noticed it or recorded it for history. Sensitive souls might bury their faces in nosegays or scented hankies when a long-unwashed regiment tramped past, but most of our forebears remained as blissfully unaware of their stench as we are of the growing foulness of our air.
From Coming Clean in Colonial America