Thanks for posting the question. Have noticed a similar issue post patch update. Can you try below steps:
- Check the FDM vib version on VC located in /etc/vmware-vpx/docRoot/vSphere-HA-depot/vib20/vmware-fdm/

- Compare the FDM vib on ESXi host using below command
esxcli software vib list | grep -i fdm
If VIBs are not matching (if ESXi shows older VIB version), please try below steps:
- Copy the latest FDM VIB from VC to the ESXi host (/tmp folder or to some datastore)
(sample file name from 7.0 environment - /etc/vmware-vpx/docRoot/vSphere-HA-depot/vib20/vmware-fdm/VMware_bootbank_vmware-fdm_7.0.2-17958471.vib)
- Remove the old VIB version from ESXi host using command esxcli software vib remove -n vmware-fdm

- Install the new FDM vib using command esxcli software vib install -v <vib full patch>
Sample result:

- Retry HA configuration