My numbers were almost identical. Age 58 with one 2cm lesion with one small area of 4-3-7, rest 3-3 or 3-4 or clean. PSA was 6.9 after biopsy, 5.7 before. I opted for RARP by Dr Abdul-Muhsin at the Scottsdale campus. 6 weeks post op and have complete bladder control. Only used pads for 2 weeks. Did 5000 kegels in the 34 days leading up to surgery. ED is about 90% gone so everything seems to have lined up for me. Of course I worry about reoccurrence given my age but that’s pretty much life.