It might sound kind of trite, but it has less to do with the replication algorithm and more to do with the fact that Zookeeper’s source is quite complicated vs, say etcd, so there are more opportunities for subtle bugs to appear. I encourage you to look at the bug section of the change log for zookeeper, and also the feature list of ZK vs etcd.
Also, etcd powers many critical open source projects, so there are many institutional eyes that actively contribute to its improvement. IME if we ever encountered an issue at work with ZK, we found it impossible to trace it down to a bug that we could fix and upstream. Etcd’s been easier in this regard.
With regards to Kafka, it's probably easier and more robust to add their own consensus layer rather than switching to etcd - Kafka is already a distributed system built by a team of distributed systems engineers. It makes sense for them to build their own consensus, deeply integrated with the replication mechanism, rather than relying on an external database.
Also, etcd powers many critical open source projects, so there are many institutional eyes that actively contribute to its improvement. IME if we ever encountered an issue at work with ZK, we found it impossible to trace it down to a bug that we could fix and upstream. Etcd’s been easier in this regard.