It should be patient dependent. Screening everyone is not currently thought to be useful but those with risk factors should be screened after a discussion of risks/benefits. Your father having prostate cancer (especially if he was diagnosed before age 65) is a risk and I would advocate for it, especially if it something you are worried about and you understand that sometimes a PSA can be falsely elevated in benign conditions, which may mean you get a biopsy that ultimately wasn’t necessary, and the potential risks that could have.
For a good short overview:
https://www.cancer.gov/types/prostate/psa-fact-sheet
And read “is the PSA test recommended…”