@upsidedownlemon thanks for sharing this info.
I flashed the firmware, but I couldn't format my ST4000NM0023 (from a Hitachi nas) with the --size=512 option, --size=520 formats fine.
After some experimenting I discovered the following workaround:
sg_format -v --format --size=520 --six --fmtpinfo=3 /dev/sg1
Let this format for a couple of seconds, then ctrl-c and power off the drive, then power on the drive again and let it initialize.
Then format with the --size=512 option:
sg_format -v --format --size=512 --six --fmtpinfo=0 /dev/sg1