Just encountered this issue, ran into the same problem where I mistakenly added a disk to the mirrored RAID instead of just rebuilding using a replacement disk.
To remove the Missing/Damaged disk, you need to specify the RAID ownership of the disk you are trying to remove. So, in your case, you would enter:
diskutil appleRAID remove 8FEC705F-947F-4F84-AC8D-D5BE61F9037E disk5
(diskutil appleRAID remove *UID to remove* *RAID Device Node containing Missing/Damaged disk*)