SCSI can be fast, slow and everything in between, but it's seldom cheap. If it is check your performance, it's probably a lot slower than you think. Used components can be had at a reasonable cost, but expect performance to drop severely.
RAID-5 can have decent reads, but writes are normally much slower. Parity calculations kill performance unless you have a fast controller processor(read expensive) and fast onboard cache RAM.
Other than solid state drives, and I haven't looked at them indepth, you will not ever see a 2ms read time with current drives. The current fastest read access on a disk is the Maxtor 15K II 147GB at 5.5ms including latency. Disk latency alone is in the 2ms range for 15K drives. Typically, there is a slight increase in disk access times using a RAID card(though the Intel matrix RAID does seem to improve them(even that seems to run into a wall at around 6ms)).
RAID-1 is fairly common with SCSI, though it will require a zero channel RAID controller for most onboard solutions or dedicated RAID controller for others.
Things you may not have looked at is PCI/PCI-X/PCI-E bandwidth limitations and workload patterns.
PCI has a net limit of around 115MB/s in the real world. PCI-X is much less common but can have much higher limits on STR. PCI-E is limited by the number of lanes available. Depending on board and mode, this could limit you to potentially as low as 266MB/s theoretical.
Workload patterns can have a large effect on performance. SCSI's firmware is more optimized for server usage patterns and perform worse than SATA in desktop modes. You can see this clearly in this comparison:
http://www.storagereview.com/php/be...&devID_4=264&devID_5=323&devID_6=322&devCnt=7
These are all high capacity, high performance drives. Yet, in terms of high IO load, the SCSI drives consistently out perform the SATA drives. In the more typical patterns for desktop users, SATA, even 7200RPM, performs well and often exceeds SCSI's performance at a much lower cost. The Seagate Barracuda ES is the enterprise version of the 7200.10.
Personally, the SATA offerings make more sense from a cost benefit standpoint for most non server uses.