Drive in RAID 5 has media errors

I have a server that has locked up on me a couple of times. Event log showed media errors in one of the hard drives. I verified this in the RAID log and RAID admin software.

No drives have failed yet and the condition of the RAID is still listed as optimal. But when I try and do a consistency check it goes to 4% and stops there (I let it run for over 5 hours).

Is it ok to replace the drive that has errors and rebuild?

Does the fact that the consistency check won’t finish change how I approach fixing this?

Thanks in advance.