These drugs, taken with a good group of people, always lead to a therapy-like experience. And as GP comment said, they give you the ability to clearly identify what bothers you in life and what to do about it. The only difference between 'medical' sessions and 'recreational' ones is that you're talking to a therapist instead of friends. Having done both, friends are generally the better option.
Actually acting on that information to improve your life is a completely different task, and without taking that step, these drugs do nothing for mental health long term.
There is no difference between 'medicine' and 'drug' other than some regulatory body slapping a label on it. Especially the case with psychedelics where early pioneers performed and documented way more experimentation than FDA-approved research could ever hope to cover.