A pending sector should be reallocated or removed from the pending list when new data is written to that spot. It's difficult to determine which files occupy which sectors, so the easiest way is to run a non-correcting parity check which will read from all the disks, when the pending sector is read, it should (hopefully) be overwritten by good data calculated from the rest of the disks + parity after it fails to read, causing the Unraid error count to increase, and moving that sector from pending to reallocated.
The issue is if another drive happens to fail before this disk is healthy, the pending sectors will likely fail to read causing any other disk being rebuilt to have errors at that sector as well as probably being corrupt itself.
Poor power or other environmental conditions can also cause pending sectors, so the drive isn't always at fault when these show up, but if more sectors keep showing up pending or reallocated chances are the drive is dying.
Because drives can fail without warning, it's always prudent to replace drives that you can't trust as soon as possible, in case one of the "good" drives suddenly decides to die unexpectedly. Having dual parity can reduce the stress a little as it can tolerate 2 drive failures, but it's not bulletproof.
Unraid's ability to rebuild drives is NOT backup, it's high availability. Always keep current backup of any files you can't afford to lose.