I think all four possible combinations are fine in this instance. When you use は, you create a slot that needs to be filled, and then you fill it with the answer. When you use が, you describe a characteristics of something and then reveal its identity with your answer (I hope this makes some sense).
For example, if you say
ご飯にかけられるのは、ふりかけなど
You describe something that needs to be filled (what can be put on rice) and then you fill it (ふりかけなど).
If you say
ご飯にかけられるのが、ふりかけ
You describe a characteristic (ご飯にかけられる) and then reveal its identify (ふりかけ).
This is why this next sentence is slightly odd
ご飯にかけられるのが、ふりかけなど
Because you are revealing an identity but it is ambiguous (ふりかけなど).
Now coming back to your original sentence, both work because each thing (A, B, C) is unique.
If we compare
(1) 空を飛べるのが鳥類などで、海を泳げるのが魚類などで、陸を歩くのが哺乳類など
(2) 空を飛べるのは鳥類などで、海を泳げるのは魚類などで、陸を歩くのは哺乳類など
IMO (1) is slightly unnatural because you expect something unique (and not have "etc"), though I wouldn't say it's downright wrong. In contrast (2) has no issues IMO.
If you make the groups unique, it again reads naturally:
(3) 空を飛べるのが鳥類、海を泳げるのが魚類、陸を歩くのが哺乳類