My two cents is make a decision based upon your current dataset analysis and don't look back. I had similar Gleason scores and chose RP over other options knowing I would lose one nerve bundle and some length with the removal of the prostate. My decision tree was simple as it began and ended with my best opportunity to remain on this side of the dirt while allowing for other procedures if the cancer returned.

I'm now 31 months post RP and have a clean bill of health and I feel like any 61 yr old feels like. I ride my mtn bike, backcountry ski, surf and play golf. My sexual health, while important mentally for both my wife and myself is back after some effort including using Trimix off and on for 6 months. I do not use ED meds since month 10 post op. Sexual health was a low priority, ex mentally, in the decision tree and contrary to most available publicly available research it can be a problem area hence my use of Trimix.

Good luck with your decision process!