A few years later, but for anyone coming to this from vSphere 8 -- lajato's resolution was spot-on.
Our setup has a vCenter in the U.S. and a remote cluster in Europe -- connection between the two is over an SDWAN/VPN connection. ESXi sleds would show when you tried to add them to the vCenter, request user/pw, and present thumbprints for verification -- but once verified/logged in, the connection was lost and after hitting "OK" to add them to the vCenter datacenter/cluster, they remained stuck at 0% until they timed out.
Resolution was going into the server and client config files, and lowering the fragment down to the necessary level -- in our case, 1340. With that done and the VPN services restarted, the ESXi hosts were successfully added to the vCenter cluster without issue.