Problems with my penis and testicles

Hello, I am 21 and for two years I ve had problems with my penis and testicles. It started suddenly that I couldnt have erections I was feeling okay by the time everything was fine I didnt have problems with urinating. So I though It must be stress....after 3 months it got slightly but only slightly better but then no further improvement. Now after two years its somewhat better but I still need to visit doctor regarding this. My current situations is that I can get an erection although they are weak like 50% of the original hardness and they sometimes fall down rather quickly. I also dont feel like my body needs to have masturbation or stuff. Before it happened I used to have regular strong morning erections, now I dont have any or they are super weak. What I am concerned about is that its not just erections my whole penis feels a bit numb and flabby. Regarding my testicles....almost all the time my scrotum is in weird feeling as if tingling and its shrank like when ur cold except I am not cold. Why didnt I see doctor earlier is because I was busy with work/school and for over a year my local Urologist didnt ordinate because of covid lockdowns. Does anyone have Ideas what it could be? I dont think thats its mental problems........In past I ve been diagnosed with varicocele by different doctor and when they did blood tests earlier I asked my doctor if she could check my hormones and they went fine and she even said that I have twice as much testosterone as others of my age. I really dont know what this could be......Like I said I dont have problems with urinating.......any help or suggestions will be much appreciated.