I had PSA of 9.5 and Gleason 3+4. Didn't get a staging, but it didn't matter as RARP was my only option - everyone agreed that RT with my Ulcerative Colitis (even though it's mild) would ruin my quality of life. At 68 I'm probably older than normal for RARP, but I don't have any other health issues, so the consultant wasn't worried. TBH given the option I would still have plumped for RARP, because my wife has had RT and had several side effects and I also prefer to know quickly if the procedure was a success.
Luckily got mine done just ahead of covid and have been told that PSA is undetectable and I had negative margins. However there was no nerve sparing on the left hand side. Continence-wise I've been dry all night from the beginning, and the consultant says I have good pelvic floor (not the slightest bit of stress incontinence), but I can have "urge" incontinence. Physio says that because my prostate was so big, I now need to re-train my bladder. I'm told it will probably take some months to sort out ED; we'll have to see.
In your position, providing that you are reasonably fit and healthy otherwise, I would have thought that the only real issue with RARP would be whether they can spare the nerves both sides. If so and at 57 you should have good outcomes, but of course nothing is guaranteed. You wouldn't normally expect bowel problems with RARP (unlike RT) unless you were very unlucky (i.e. your prostate was squashed up against your intestine, if I recall my chat accurately).