Could my penis become totally useless?

Long story but I'm in my 30s, married to a woman older than me. We haven't had real PIV sex in a few years. An overall combination of me being small and often premature, and her loving oral, strap on, and dildos along with our Dom and sub relationship the focus is all on her and not me.

All is good, she is well satisfied and I'm free to jerk off when ever I like.

Here's the thing concerning me, I'm mildly incontinent (being 24/7 diapers for over a year and was a bedwetting way before that). Due to some recent medical issues and medications I've also become impotent (due to meds, it would come back if I go off them).

It's a weird feeling. Like my penis just exists. Cant hold pee, can't cum, just there. It's been kind of fun when I'm being extra submissive but also concerning to think I could go my whole life and never have an erection or wear underwear again.

What kind of doctor or counselor have you consulted. Zity is a place for fun and sometimes helpful suggestions but this sounds like a concern for a medical professional.