I know this is an old post but it's what comes up when you google the issue. There's a KB article that covers exactly what is going on - https://kb.vmware.com/s/article/67560 but it is exceptionally poorly written.
There are two solutions to fix this, either remove/replace the CD/DVD drive or disable AHCI, assuming AHCI isn't being used for anything else. Unfortunately this bug can't be fixed via firmware updates so these drives are trash.
The fix is exactly what bouke posted, disable AHCI using the following commands:
esxcli system module set --enabled=false --module=vmw_ahci
esxcli system module set --enabled=false --module=ahci
If you want to confirm you have the problematic drive you can run this PowerCLI command to find you CD/DVD drive model.
Get-VMHost | where {$_ | get-scsilun -LunType cdrom} | Select Name,@{N="Vendor";E={$_ | Get-ScsiLun -LunType cdrom | select Vendor}},@{N="Model";E={$_ | Get-ScsiLun -LunType cdrom | select Model}}
If it says DU-8A5LH then it's a ticking time bomb waiting to PSOD at any moment (even when not using the drive).