It needs psychological as well as physiological assessment , this problem will  improve with medicines and counselling .I can understand ur  concern that you are worried but As u are young , scope of improvement is there. First of all with medicine ,we will build up  self confidence  to perform better every time, then hopefully this will resolve permanently . It will happen,  don't worry be happy :).consult me .

Take proper knowledge about this first N use some Ayurveda herbs

It is most likely to be obstructive type as hormonal levels are normal.

It is Obstructive azoospermia Dr Ramit Kamate Nakshatra IVF and Intimacy Clinic Pune

If all hormonal levels are normal, then mostly it's obstructive (although USG is normal) Dr Dyuti Navadia MBBS DNB (Obstetrics and Gynaecology)