Synthesized polystyrene (PSt) with a molecular weight of 2100 g/mol, hexamethylene diisocyanate (HMDI), 6-hexylamino benzamide (6B), and N1-(6-aminohexyl)-N4-(6-benzoylaminohexyl)terephthalamide (6T6B) are used to make a copolymer of thermoplastic elastomers. The prepared polymers’ inherent viscosity results (0.4–1.1 dL/g) support the polymer’s high mass. The presence of a monodentate urea group in the polymer chain is confirmed by FT-IR tests. The temperature dependence of FT-IR confirms that the synthesized copolymer has a space length dependent reversible crystallinity. Data from differential scanning calorimetry (DSC) also shows that the hard segment crystallization is strong and reversible in nature. The XRD results show that the polymer is semi-crystalline. The TGA analysis confirmed that the synthesized copolymers are thermally stable up to 290°C. The presence of hydrogen bonds in polymer chains is thermally reversible. The polymer’s solvent resistivity is excellent due to its high crystallinity.