Thanks again to everyone for weighing in.
I did pay quite a bit of money to have many different blood tests done to see if there were any deficiencies or hormone issues- apparently I am the healthiest guy ever (aside from the obvious issue).
I also spent some time with a pelvic floor therapist because for a while, I was showing common symptoms of what people called "hard flaccid syndrome". After years of yoga, stretching, eating right, and working out- things have improved there, but getting and keeping erections are still a battle. I can get it to about 75%, but it's always on the way down. Haven't had a morning erection in years.
All of my anxiety and depression purely stems from my inability to perform and the fact that I am having to avoid dating wonderful people right now.
I have heard multiple urologists echo what was said above, that if it doesn't work- that's all that matters. Injections or implant are the only options. I will exhaust everything else before moving forward. I was told it was potentially "leaky veins" without any testing being done.
The next step for me is to get that doppler ultrasound.