Hello - and thank you for this fascinating question. Urinating in the 'wrong' place can be a symptom of various different problems, and detective work can be needed to get to the bottom of it. It sounds as thought
over-urination, in diseases such as diabetes, kidney disease and so on, has been ruled out, but your vet may suggest tests.
One under-rated cause is pain - mild arthritis or abdominal pain, which can make it difficult to fully squat. This isn't always observed from watching the patient (- pain is notoriously difficult to spot in cats unless it is severe). However if their hips aren't perfect, it can be hard to climb in and out of a box with a full bladder, or to aim it into a desirable spot. Your vets might arrange trials with pain killers if this is a strong possibility. If using a litter-box with high sides, switching for a shallower one can sometimes help.
Some cats dislike some trays and substrates (litter-types), so experimenting with different ones can be helpful. Some cats will simply relax better if they are not overlooked.
Meanwhile, cystitis - inflammation of the bladder - is usually associated with stress which is increased in multi-cat households, because cats typically like their own territory. Within a house, there will be a strict hierarchy as regards toilet habits. Another cat using one's litter can put a sensitive cat off toileting completely. Remedies for this can be as simple as removing an offending / stressful object (I knew one family who put a musical instrument down in the hall - and when it was there, the cat didn't use the tray). Or as complex as rehoming that patient or another one of the colony to a single-cat family. Please don't give up on this problem as cystitis can escalate.
The first thing to do may, however, be to make sure that the urine is not reflecting signs of kidney disease, stones, crystals and so on.
I also have some old blogs for your to read about various toileting problems.
- https://vethelpdirect.com/vetblog/2020/12/23/why-does-my-cat-have-bladder-trouble/
- https://vethelpdirect.com/vetblog/2019/01/18/cat-squatting-repeatedly/
... but because of the dangers of urine tubes blocking, would strongly recommend checking this out with your vet while the problem is still in its early stages. I hope that something here is of use.