Why MongoDB needs to disable majority read concern for PSA architecture? We have MongoDB 3.6.9 replica set, contains 3 data nodes and 2 arbiters.

I noticed warning in mongodb console:

2020-01-20T11:29:04.057+0000 I REPL     [replexec-0] ** WARNING: This replica set uses arbiters, but readConcern:majority is enabled 
2020-01-20T11:29:04.057+0000 I REPL     [replexec-0] **          for this node. This is not a recommended configuration. Please see 
2020-01-20T11:29:04.057+0000 I REPL     [replexec-0] **          https://dochub.mongodb.org/core/psa-disable-rc-majority-3.6


I studied the material from the link https://dochub.mongodb.org/core/psa-disable-rc-majority-3.6, but I did not understand why it needs to disable majority RC, and what will be better: remove arbiters or disable majority RC.
Arbiter nodes don't "replicate" data...

The problem with your setup is that, that you can "lose" two of your three data-bearing nodes and your setup has still "majority" in votes. Meaning that replica set still keeps "serving" clients, but all data is only at the one node without replication.

Then comes that "majority RC", with that setup, even you lose one of those data-bearing nodes, the whole replica set stops accepting data (basically) because of missing ack messages. If three nodes of five are data-bearing nodes, that three IS majority of nodes and "majority RC" required that all those three nodes answer "ack, data is safely saved to the storage".