NetBackup is not sensitive with firmware versions in initial configuration. But newer firmware may be better. Someone knows what happen in replacing drive of different serial number, different firmware? Global device database contains these information.
Definitely keep all the drives at the same level. One other thing to note if you're running a Windows server is that the f/w is stored as part of the drive identifier string (ie IBM ULTRIUM2 42D1) when you upgrade f/w it changes that string and Windows tends to not like that until you do a reboot.
Our Windows guys use a small Sun tape robot attached to their Intel master server, and the ONLY way to upgrade the firmware on their drives is to unhook the robot, then hook a Sun box up to the robot and flash the firmware that way. Bizarre and extreme but it works!