We're in an automation market. All our projects are heavy on mechanical design, and many (but not all) of those projects include significant electrical and firmware components, with PC software being used mostly internally, but some customer-facing demos, etc. Current org structure is delineated along engineering disciplines - there's an Electrical Engineering group, Mechanical Engineering group, Software engineering group, etc. All development teams are doing at least some form of Scrum, with defined Sprint periods and Goals in each Sprint.
There is lots of desire to "try out" multidisciplinary teams, so that all skills relevant to a project are in one team. I'm trying to wrap my head around what 'good' looks like in that kind of environment. Searching for things like "software and hardware on same team" yields some opinion pieces like Scrum Teams, Swarming, and Hardware, but what I'm looking for is an actual example of how this has been done in practice, and if there is a consensus on whether it's actually workable. I can think of plenty of challenges, like the ones in this question, where the Product Owner is more comfortable making a Backlog for one discipline.
Just to be clear, the focus of this question is "are there case studies for integrating mechanical, electrical, and firmware/software on the same Scrum team?"