Hi Friend,
Yes, by default, SDRS will keep your all VMDks from a VM on single datastore. This is what I can confirm at the moment.
You can make use of SDRS affinity/anti-affinity rule for placing VM VMDKs as per your requirement.
I am not sure whether SDRS is aware of consistency group. But this is important feature to make our storage really software defined.
I will dig into consistency group and will come back to you.