I've seen this exact problem on systems that were marginal in power. Some of that batch had it some did not.
I started on some code to not actually detach the drives for a second or two on the off chance they'd come back quickly. But the bad batch was retired before i was done.
At least i fixed the panics that would go along with these events
Our bad batch tested good, but was just marginal enough... but the bad batch had lots of confounding issues: marginal psu, marginal cables and bad thermals which all acted together to cause very short brown outs that the drives hated...
Yes, power issues were suspected earlier on, however:
Interestingly I have had no panic's at all. Apart from the drives dropping off FreeBSD has been rock solid, computing away for weeks at a time at high load without issue. The only problem is that when enough drives drop off the zpool gets suspended and I need to do a reboot, but the OS itself does not show any problems beyond the printed errors.
Neither do I get any CPU errors or segfaults, which I would expect to happen if there was a power issue. Normally at the margins of power draw I would expect all kinds of odd errors/panics, as different parts of the system get affected at different times by the brownouts. Earlier I did voltage tests and saw no drop in voltages across the drives 12V and 5V lines that I would expect to see in a brownout situation.
The failure modes are interesting as well. Sometimes the drives just drop off and I can re-attach them. Other times an entire channel seems to get into a confused state and nothing except a hard turn-off/wait/turn-on cycle will reset them.
This happened during the last backup, where it trashed the backup drive while in the caddy. I took advantage of this and tried all kinds of other drives in the caddy, each of which would result in I/O errors on FreeBSD if I tried to access them. Even a soft reboot did not fix that, hence the hard reset required to fix.
At this point I only have two things I've not changed as mentioned. I am currently taking advantage of the working pools to do a full backup, after which I may try installing Linux on this machine, importing the zpools and then thrashing the machine for testing. If drives drop off there too then we can rule out an issue with FreeBSD.