PSA is indicative rather than conclusive. The most conclusive aspect is Gleason Score, MRI investigation and the opinions of urologists and oncologists. I was 71, had the same Gleason score as yours and had surgery over 12 years ago. We are still enjoying our life in all its aspects. Recovery was tough but I recovered, suffer from very mild incontinence and ED but that is due to my age rather than the surgery. Pre surgery my erections were becoming unreliable and not long lasting. Surprisingly our sex life is better now than before surgery! Have a read of my post at:
https://community.prostatecanceruk.org/posts/t28948-Re-establishing-Sex-Life
Don't be influenced by what I say but once to decide on your treatment be optimistic and remember a lot of healing takes place in the head.