Your way of upgrade exactly right.
Considering drive errors if there is any drive logging hard error or medium errors then better to replace them before you go for the drive firmware upgrade.
I am not sure if you have external drive enclosure as well. Then review firmware version for those drive enclosure IO modules as well and upgrade them.
Keep in mind that in any hardware system it's always recommended to fix hardware issue first and then go for firmware update.
Hope this helps!
Regards
Subhajit
I am an HPE employee
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