Example config before:

config:

        NAME                                   STATE     READ WRITE CKSUM
        storage                                ONLINE       0     0     0
          raidz1-0                             ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ4LWL0  ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ5HTAQ  ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ6H0PS  ONLINE       0     0     0
            ata-ST12000NM001G-2MV103_ZL21YC1S  ONLINE       0     0     0
            ata-ST12000NM001G-2MV103_ZL25ZSXG  ONLINE       0     0     0
            ata-ST12000NM001G-2MV103_ZL26VRV0  ONLINE       0     0     0
        logs
          nvme0n1p2                            ONLINE       0     0     0

zpool replace storage /dev/disk/by-id/ata-ST12000NM001G-2MV103_ZL21YC1S /dev/disk/by-id/ata-ST12000NM001G-2MV103_ZS806SKT

Example status output

  scan: resilver in progress since Sun Feb  5 19:28:46 2023
        19.6G scanned at 1.51G/s, 7.15G issued at 563M/s, 41.6T total
        0B resilvered, 0.02% done, 21:30:34 to go
config:

        NAME                                     STATE     READ WRITE CKSUM
        storage                                  ONLINE       0     0     0
          raidz1-0                               ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ4LWL0    ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ5HTAQ    ONLINE       0     0     0
            ata-ST12000NM0008-2H3101_ZHZ6H0PS    ONLINE       0     0     0
            replacing-3                          ONLINE       0     0     0
              ata-ST12000NM001G-2MV103_ZL21YC1S  ONLINE       0     0     0
              ata-ST12000NM001G-2MV103_ZS806SKT  ONLINE       0     0     0
            ata-ST12000NM001G-2MV103_ZL25ZSXG    ONLINE       0     0     0
            ata-ST12000NM001G-2MV103_ZL26VRV0    ONLINE       0     0     0
        logs
          nvme0n1p2                              ONLINE       0     0     0

The time in scan: is only a rough estimate and depends on how much work is already done. E. g. after over 24h in can look something like:

  scan: resilver in progress since Sun Feb  5 19:28:46 2023
	31.6T scanned at 558M/s, 27.7T issued at 489M/s, 41.6T total
	4.48T resilvered, 66.66% done, 08:15:18 to