I don't know what kaiser is but as for insurance I am now on Medicare.
I saw my young urologist in December. After a PSA of over 8 she recommended an MRI which showed two areas of concern. She then recommended a targeted biopsy and 9 of 15 samples show cancer cells. I have Gleason 3 + 3+6. She instantly recommended surgery. Um, no. She lost me as a patient. I am going to Mayo.

It's your health at risk. You need to make the decisions. If you want an MRI (as did I) and they say no, move to another facility or find a different oncologist if you can. You will have to wade through the insurance mine field with your agency and Primary Doctor. Keep reading and educating yourself. Every person's case is different and every treatment has it's own percentage of side effects. If you have a targeted biopsy ask for a Genomic test to grade the aggressiveness of your type of cancer.