Can a man still get an orgasm if he has erectile dysfunction and is never truly hard?

Yes: The part of the nervous system that controls for erection and for ejaculation are different and therefore one can occur in the absence of the other (such as with quadraplegics, spinal cord injury patients, etc).

Yes: Ejaculation and orgasm are different neurological pathways but the man should still get a medical evaluation.

Yes: Entirely possible. But will be pleasanter for both if ed can be corrected with medication.