The research found that almost a third of HIV-positive respondents would rather avoid making new friends than disclose their HIV status.
The report showed 101 new HIV diagnoses in gay and bisexual men in NSW in the first six months of 2017, the lowest since surveillance began in 1985.
PrEP was approved by the Therapeutic Goods Administration in May last year, but without federal subsidy it remains too expensive for most people.
The plan explains that extra government funding of just $32.5 million a year would prevent new transmissions and eventually save the government $2 billion.
The results of the Opposites Attract study were presented at the International AIDS Society Conference in Paris.
Over 99 per cent of men living with HIV in the survey reported being on treatment, and over 97 per cent of those men on treatment have an undetectable viral load.
The majority of new cases were among men, with gay sex the most common mode of transmission identified.
For the first time in Australia the plan acknowledges women, trans, and gender diverse people as priority populations.