I am absurdly aware of this. I am also absurdly aware that most free software isn't audited, either, and is full of unintentional security vulnerabilities more exploitable than anything going on with my proprietary firmware. Nonetheless, I believe in incremental improvements.

(Note that untrustworthy drive firmware has an easy workaround at least in theory - just do full-disk authenticated encryption, and then the drive can't do anything worse than DoS you, which is sort of a thing drives tend to do on their own anyway.)