The RARP has degraded your erection capability and after 6 years it is unlikely to improve further.
I have found the practical impact of this is more intense mental stimulation is required to achieve "an effect".
So pre rarp I might have got a real boner just from having a smutty thought, now it needs full on sexual stimulation to get "half cocked".
Practically this means if I want penetrative sex I will need assistance from a cock ring. Fortunately for me this works well, other guys use the pills, injections or pumps for assistance.
It's an unfortunate consequence for most men post RARP