I have a good doctor and good insurance (Medicare Advantage!). Even so, at my age, I gotta' watch everything.
If you live long enough, you're bound to die of something.
Seriously, though, a PSA test every year or two isn't a bad idea. Just don't think that an elevated PSA is an automatic prostate cancer death sentence, especially from a single test. It's more important to watch for trends.
I'm about your age, and prostate cancer definitely runs in my family. So far I've been lucky.