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Typically, yes. It could be due to either a flaky SATA cable/connection/controller, so you might try moving it to a different port if you are able, clearing the error, and seeing if it reoccurs.
Regardless, just make sure you have a good backup of the data or are confident in the other two disks.
Change cable or re seat sata connector, clear errors and start a scrub is what I always do.
I've been suuuuper lazy troubleshooting this so it's been a few weeks, but I talked to WD support, they said to run a full extended S.M.A.R.T. test on the drive, it passed with no issues.
Reconnected it to my server using a different SATA cable on a different port on the motherboard, with a different power connector. It resilvered with no problems, and a zpool scrub returned no errors this time so hopefully I'm in the clear!
I have a script that runs once a week that does a scrub then sends the output of zpool status to a Discord channel. When this first started it had read errors (as mentioned in the post), then checksum errors two weeks later. With there being a couple different errors before troubleshooting, and now with no errors after a scrub I'm hoping this means everything's fine now.