Hello,
You can present the shared storage to both groupes of hosts as a datastore.
1) in esxi 6.0, migrate the VM to the shared storage .
2) shut down the VM and remove it from inventory.
3) in esxi 7.0, browse the shared storage , navigate to the folder of the VM and add it to invetory, the power on the VM. you can optionally upgrade the hardware version to match the new hosts
With this approach the downtime will be like 5 minutes.