tl;dr: I don't have an answer.
You will find no errors, for on average 100 years. If you have two disks, for about 50 years, three disks 33 years, and so on. That's just saying that a disk drive has roughly a million hours of MTBF, which immediately implies (Little's law) that the failure rate is the number above. And the "million" is a rough guess; consumer disks are more like 300K-500K hours, and enterprise disks more like 1.5M hours.
But one doesn't scrub to detect that the disk has failed. Because disks are not a fail-stop system, which works perfectly for a while (every bit is read at the performance from the spec sheet), and then goes completely off-line and doesn't talk at all. In reality, most disk failures are a gradual affair, first a few read errors that the disk can correct easily and rewrite data in place, then read errors that are still readable but the data needs to be written elsewhere (that's called revectoring), then the number of read errors overwhelms the spare space the manufacturer set aside for revectoring and some writes will start to fail due to an internal out-of-space condition, and then things go seriously pear-shaped. SSDs are somewhat similar, with more complexity due to over provisioning and whole block erase. So scrubbing is to some extent to force the disk to do a lot of work, which helps detect when it starts failing, at which point the amount of data unreadable is still very small, so normal redundancy techniques (be it RAID, be it backup, be it retyping that piece of code you wrote a month ago) can cope with it efficiently. Another issue with disks is that sometimes they fail silently, where a sector becomes unreadable, but if nobody ever reads it, nobody will know (if a tree falls in the forest ...). So reading it once in a while is vital.
Today, many disk drives are spec'ed to have about 500 TB/year of IO capacity. From that viewpoint, scrubbing once a year is probably a bit low; month or week is more in the ballpark. Once an hour or once a century is clearly insane. In the middle, there is a very large range of plausible scrub frequencies.