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ZFS says drive is faulted, does that always mean it needs replacing?

My weekly zpool scrub came back with this:

  pool: blackhole
 state: DEGRADED
status: One or more devices are faulted in response to persistent errors.
    Sufficient replicas exist for the pool to continue functioning in a
    degraded state.
action: Replace the faulted device, or use 'zpool clear' to mark the device
    repaired.
  scan: scrub repaired 0B in 02:01:59 with 0 errors on Tue Jul 11 04:02:09 2023
config:

    NAME                                    STATE     READ WRITE CKSUM
    blackhole                               DEGRADED     0     0     0
      raidz1-0                              DEGRADED     0     0     0
        ata-WDC_WD120EDAZ-11F3RA0_5PG8DYKC  ONLINE       0     0     0
        ata-WDC_WD120EFBX-68B0EN0_5QKJ6M8B  ONLINE       0     0     0
        ata-WDC_WD120EFBX-68B0EN0_5QKJTT8B  FAULTED     51     0     0  too many errors

errors: No known data errors

I only got the drive 6 months ago, well within WD's 3 year warranty so I opened a support case, but do errors like this basically always mean the drive is its way out or is it possible to have false positives?

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