After the third year of steadily increasing PSA scores, my doctor was concerned even though it was below the official "get worried" mark because of my relatively young age and the trajectory.
I went to a urologist, got a request for the MRI which the insurance company denied, and so had to follow up with the very unpleasant biopsy mentioned in the OP (including missed work, pain, peeing blood). All for the result to come back completely negative.
That was last year, and as luck would have it, this year's PSA score dropped significantly.
I don't know whether I'd say that I'm not glad to have a definitive negative answer, particularly since my father had prostate cancer. However, this false alarm did cost an appreciable amount of money, time, and suffering.