UCSF has reasonable information about "Penile Rehabilitation Therapy. "PRT."
https://www.ucsfhealth.org/conditions/erectile-dysfunction
I am nearing the 12 year point since my diagnosis.

My surgery was nerve sparing. I've done done ADT twice, when I did SRT my radiologist had me sign on the dotted line acknowledging the risk of ED by "frying" the nerves.

My only PRY, a daily 5 mg Cialis and self stimulation. Even when on ADT I did not lose my libido not function, ability to achieve an erection and orgasm.

So, likely I'm an outlier, much to my wife's dismay...!

It was about a year after surgery before I could say " recovered." It's different though, dry orgasm, greater stimulation, both physical and mental. Both to achieve an erection and orgasm.

At the heart of PRT, at least for me is "use it or lose it."

So, PRT seems to follow the "step" approach, start with, progress to.

You can search this forum for conversations on this subject that take the details of PRT to a whole nother level...'

Kevin