Look at your SMART data and run some tests. Reseat the SATA cables too. I’ve had that cause problems. Even had a SATA cable go bad a few times over the years. That will cause you to get these kinds of errors too. ZFS is pretty paranoid about data loss. So if it even gets a small hint that something is wrong it does t his.
At this point it really comes down to how valuable the data is to you. Most of the time when I see this error I’m not seeing anything on SMART that would lead me to believe that there’s a problem. So I’ll clear the error and watch it. If I start to get the same problem with the same drive I’ll usually replace it when I can. That being said I have pretty good backups so it would inconvenience me a lot but it’s most likely not going to be the end of the world if my drive dies on me. YMMV