Earlier quoted context omitted.
I've been doing a poor man's version of this for home videos using 3 hard drives and rsync. It's easy to replace a drive and they are not likely to go out at the same time. But one thing that bugs me is that unless the drive fails hard (e.g. noticed by SMART or unable to read at all) how do I know the data on the drive is not corrupted without reading it? Are there best practices to continuously compare the replicas…
Use ZFS, it can perform periodic integrity checks.
Higher-level checksum failures are, however, a situation, where I would appreciate an integration between filesystem and RAID, as I'd want a checksum error to mark a drive as bad, just like any other read error.
Do you happen to know if ZFS does that?