This isn't on ARM hardware for sure, as there's no ESXi 6.7.
To answer your question: PSODs can be both, hardware and software-related. Sometimes it's possible to guess the reason just from reading through the stacktrace and which components are involved, otherwise usually further internal analysis are required - which requires you to file a SR.
So as you can see in the screenshots the PSOD is caused by a malfunctioning driver, aacraid to be specific. When reading from bottom to top, you can see the code functions it travels through which lead to the PSOD being triggered. That's the driver for your storage controller/hardware RAID controller.
I'd suggest to check the HCL and ensure you have the correct driver and firmware combination installed - see https://www.vmware.com/resources/compatibility/search.php?deviceCategory=io. Such PSOD can also occur due to mismatching driver and firmware combination.
In any case it would probably make sense to re-install the driver nonetheless. According to the message ESXi can't verify the signature of the "scsi-aacraid" driver. So either there's no signature (which sometimes isn't), or maybe the driver VIB is simply corrupt.
If assistance from VMware is required, ensure you have a full core dump available and raise a SR for this for further analysis. But usually you might get redirect to your hardware vendor after, as driver/firmware are developed and supported from them.
Regards,
Patrik