What should happen is that the RAID knows what drive has the current data to rebuild from.
So to make it rebuilds the right take then drive you want it to rebuild from then put the other drive in and Ctrl + I to reset disks to non-raid now when you put the drive you want it to rebuild from back in the raid will see a unformatted new drive to rebuild onto.
But as always backup first.
1/ try to install intel Rapid Storage
2/ It is may be an issue with Hard disk