I have nothing "new" for this thread but I can add some feedback as I have a similar issue (as the one originally reported)
I've a raid 1+0 array with 4 WD30EFAX, connected to ata1-4 ports.
The system was running "Armbian 21.02.2 Buster with Linux 5.10.16-rockchip64" on emmc at the time I reported the issue to Kobol support. I have the enclosure kit, so I use the provided SATA harness.
A file transfer (read ~15G) from an NFS client was enough to trigger a lot of occurrences of:
[78707.655206] ata4.00: failed command: READ FPDMA QUEUED