Are any of the disks in any of the arrays hot spares or are they all member disks? It is odd that those 72-giggers are in there; the only thing I can think of is that original 36GB drives failed out of warranty (G3 has been around awhile) and they purchased the more readily available 72-giggers to replace failed disks.
For the 2 servers, clustered, RAID 1 -- I don't think you can do this as I don't think that RAID controller supports running a single disk not in an array. And even if the controller does support this, I don't think you'd be able do to this without destroying the contents of the arrays, so you'd have to back up, reconfigure, restore. You can confirm this by calling HP support.
For the RAID 5, removing a larger HDD and replacing it with same size HDD as the rest of the array -- if the array is Optimum status, then you can do this, and you can do it HOT. Confirm via the ACU that the array is optimum and if so, simply remove the one drive, wait a few seconds for the controller to detect the missing disk, and put in the replacement disk. Rebuild should start on the replacement disk automatically; confirm this with the ACU.
Your last server with RAID 5 of 4x36GB plus 1x72GB HDD -- Are you suggesting that you want to REDUCE a 5-disk array to 3-disks (and therefore reduce capacity)? You cannot do this. For this you would have to back up the content, destroy the 5-disk array, create a new 3-disk array (this would be reduced capacity, only ~65GB versus the ~130GB 5-disk array), and restore the content. Even if you don't need the capacity, it's available for growth, and the 5-disk array probably performs a little faster than a 3-disk array.