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I haven't ran any Pi with hard drives, but I don't see any reason why it wouldn't work with software raid on linux.
The issue is that I don't think its standard bootloader supports booting from RAID. I guess you could use a MicroSD for booting then have everything else on the RAID1. There's unofficial ways to boot using GRUB, which should work with RAID1 too.
Grub supports software raid just fine. The main issue is that you need to modify grub configuration to add bootloader on both drives, but even if you don't it's pretty simple to recreate needed files for second drive when the primary one dies.
GRUB does, but Raspberry Pis don't use GRUB by default. You should be able to install it, but it's not officially supported.