I think that is the whole point. Hotswap may work with some devices on mdraid, but if you have the hardware that will hotswap, you probably have a real raid card and won't need mdraid anyway. And if you have a system that is so critical that you can't reboot to change a failed drive, you shouldn't be using mdraid.
SATA drives and controllers are designed to be hotswappable (except the very first generation controllers that only provided PATA compatibility mode for SATA drives) and the controllers are not necessarily hardware raid ones.
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