Didn't the whole rule of same-drives-only for RAID originate with SCSI-based RAID arrays in which the drive heads were synced? I seem to remember reading somewhere that the very old RAID controllers (e.g. mainframe and minicomputer era, I suppose?) would run the SCSI drives syncrhonized so that when one drive was looking at a particular block, so was the other. From that, it wasn't just better, but necessary that the two drives be identical.
This same-drive-only concept sounds like it's based on the kind of folklore that gets propagated down through time, and no one remembers why. Like, "You have to use the exact same memory in all slots on a mobo". At one time, it was necessary to use the exact same memory in each slot or your computer wouldn't run. Now, you can mix-n-match and it usually works fine. Yeah, you might get reduced performance because of a loss of dual-channel, or least-common-denominator (actually, greatest common factor) memory timings. But it works.
It looks like the same situation here: the ATA standard is based on having the drive controller hardware inside the drive itself, right? The processes of managing the timing on the drive head, moving the head across the platters, etc. are all handled by the drives. The O/S just asks the drives to find Block X in a given sector and track. So as long as the drives can do this with relatively equal performance, it shouldn't matter much.
As for homo vs. heterogeneous impacting failure safety: if one mfr's drives are particularly susceptible to a particular type of power fluctuation, temperature, humidity, G-shock (earthquake?), dust, or cyclic frequency of any of the above more than other mfrs', then employing a hetero environment could conceivably reduce the risk of multiple failures from some environmental factor (e.g. the A/C fails, or there's an earthquake). Most data centers are protected against that kind of failure by environmental controls and auto-shutdowns; most homes are not.