Hmm, seems
I'd try to import the pool with newer ZFS from 6.1 ISO (do
NOT run any "zpool upgrade" commands, else you won't be able to import the pool with PVE 5.4 anymore).
Then do a full scrub of the pool, maybe it helps to iron out the issues - you could repeat that for the two other pools too.
Code:
mkdir /zfstmp
zpool import -R /zfstmp rpool
zpool scrup rpool
# scrub runs in background, to check if it's finished use:
zpool status
repeat for other pools, reboot and see if that helps. If that does not helps we need to upgrade you to 6.1, somehow.