There is no other way than monitor it yourself with proper tools. You can never rely on "on the host monitoring", it always should be from a remote location.
This is absolutely silly behaviour of zed and accepting it as "okay" is a bad idea. This should be changed. "it should always be monitored from remote location.." yeah right! The software is in proxmox and why would one invest in a 2nd server to monitor a hardrive in the first server when all the firstserver has to do is send out the proper email when a drive is unplugged. Instead of doing it after someone plugged it back in... because obviously if someone plugs it back in he will check zpool status untill its done resilvering and the email is quite redundant..
I just tried the same, rip out cable, wait for notification email of bad drive... NOTHING
Few seconds after plugging it back... Drive resilver finished email appears...
Sep 10 13:25:15 fs02 kernel: ata9: SATA link down (SStatus 0 SControl 300)
Sep 10 13:25:20 fs02 kernel: ata9: SATA link down (SStatus 0 SControl 300)
Sep 10 13:25:26 fs02 kernel: ata9: SATA link down (SStatus 0 SControl 300)
Sep 10 13:25:26 fs02 kernel: ata9.00: disabled
Sep 10 13:25:26 fs02 kernel: ata9.00: detaching (SCSI 8:0:0:0)
Sep 10 13:25:26 fs02 kernel: sd 8:0:0:0: [sdg] Synchronizing SCSI cache
Sep 10 13:25:26 fs02 kernel: sd 8:0:0:0: [sdg] Synchronize Cache(10) failed: Result: hostbyte=DID_BAD_TARGET driverbyte=DRIVER_OK
Sep 10 13:25:26 fs02 kernel: sd 8:0:0:0: [sdg] Stopping disk
Sep 10 13:25:26 fs02 kernel: sd 8:0:0:0: [sdg] Start/Stop Unit failed: Result: hostbyte=DID_BAD_TARGET driverbyte=DRIVER_OK
Sep 10 13:25:26 fs02 zed[29838]: eid=51 class=statechange pool_guid=0xD6BEA68E732464BF vdev_path=/dev/disk/by-id/ata-ST1000DM003-1CH162_S1D8PXZJ-part1 vdev_state=OFFLINE
Sep 10 13:25:27 fs02 zed[29970]: eid=52 class=config_sync pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:48 fs02 kernel: ata9: SATA link up 6.0 Gbps (SStatus 133 SControl 300)
Sep 10 13:25:48 fs02 kernel: ata9.00: ATA-8: ST1000DM003-1CH162, CC46, max UDMA/133
Sep 10 13:25:48 fs02 kernel: ata9.00: 1953525168 sectors, multi 0: LBA48 NCQ (depth 32), AA
Sep 10 13:25:48 fs02 kernel: ata9.00: configured for UDMA/133
Sep 10 13:25:48 fs02 kernel: scsi 8:0:0:0: Direct-Access ATA ST1000DM003-1CH1 CC46 PQ: 0 ANSI: 5
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: Attached scsi generic sg6 type 0
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] 1953525168 512-byte logical blocks: (1.00 TB/932 GiB)
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] 4096-byte physical blocks
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] Write Protect is off
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] Mode Sense: 00 3a 00 00
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA
Sep 10 13:25:48 fs02 kernel: sdg: sdg1 sdg9
Sep 10 13:25:48 fs02 kernel: sd 8:0:0:0: [sdg] Attached SCSI disk
Sep 10 13:25:49 fs02 zed[30529]: eid=53 class=statechange pool_guid=0xD6BEA68E732464BF vdev_path=/dev/disk/by-id/ata-ST1000DM003-1CH162_S1D8PXZJ-part1 vdev_state=ONLINE
Sep 10 13:25:49 fs02 zed[30642]: eid=54 class=vdev_online pool_guid=0xD6BEA68E732464BF vdev_path=/dev/disk/by-id/ata-ST1000DM003-1CH162_S1D8PXZJ-part1 vdev_state=ONLINE
Sep 10 13:25:50 fs02 zed[30794]: eid=55 class=resilver_start pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:50 fs02 zed[30815]: eid=56 class=history_event pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:51 fs02 zed[31079]: eid=57 class=history_event pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:51 fs02 zed[31094]: eid=58 class=resilver_finish pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:51 fs02 postfix/pickup[20422]: BD2F566123: uid=0 from=<root>
Sep 10 13:25:51 fs02 postfix/cleanup[29598]: BD2F566123: message-id=<
20200910112551.BD2F566123@fs02.winwinsol.local>
Sep 10 13:25:51 fs02 postfix/qmgr[20423]: BD2F566123: from=<
root@fs02.winwinsol.local>, size=1673, nrcpt=1 (queue active)
Sep 10 13:25:51 fs02 zed[31109]: eid=59 class=config_sync pool_guid=0xD6BEA68E732464BF
Sep 10 13:25:51 fs02 postfix/smtp[29601]: connect to smtp.gmail.com[2a00:1450:4013:c03::6d]:587: Network is unreachable
Sep 10 13:25:53 fs02 postfix/smtp[29601]: BD2F566123: to=<
XXXXXX@gmail.com>, relay=smtp.gmail.com[74.125.143.109]:587, delay=1.5, delays=0/0/0.61/0.9, dsn=2.0.0, status=sent (250 2.0.0 OK 1599737153 la17sm6701717ejb.62 - gsmtp)
Sep 10 13:25:53 fs02 postfix/qmgr[20423]: BD2F566123: removed