If you don't want to use shared storage, you might consider looking at virtual storage appliances (virtual ISCSI SANS). You can use the internal storage on your ESX hosts and turn it into an ISCSI SAN. With this, you will be able to use HA..
Check out FalconStor, Lefthand, Datacore, San Melody..
For host based replication also consider taking a look at the latest version of CA XOSOFT
Hope this helps