Does the md subsystem output any messages (to syslog/systemd-journal) to indicate that it's running in a degraded state (or anything else that might indicate that it has successfully reacted to a drive failure, as hinted at here)?
For example, I see lots of errors from sd indicating things like Unrecovered read error but I don't see anything like "retried successfully on alternate". Maybe no news is good news?
Back in the day, mirroring software/hardware would generate syslog entries that indicated when a device was degraded or otherwise required attention. Does md not do that?
Background: the systems in question are already deployed and are being remotely monitored (via syslog/journald info, so no mdadm or any other interactive commands/access of any sort are available at this point).
cat /proc/mdstatis an essential starting pointmddriver to add the replacement disk.