Interesting. When I had this issue it was an older ESXi build.
However, I DID see this error AGAIN when I patched ESXi to 7.0.3i.
Except this time, I resolved it post-patch by:
1. exit maintenance mode,
2. load vcsa, clear error (reset to green), use port 5480 to update vsca
*** you're always supposed to update VCSA first, this time I was distracted and did it after ESXi (not recommended, OOPS!)
3. graceful shutdown all vm's including vcsa
4. re-enter maintenance mode (again),
5. reboot (2nd time)
6. exit maintenance mode (again),
7. reboot (3rd time)
The error did not come back after all vm's including vcsa auto-booted.
I just checked again and IO Filters are okay - No issue.
NOTE:
This was originally fixed on my hosts by above-posed procedures from Months ago....
Maybe try those OTHER posed suggestions, AND these steps I did for my 2nd time getting same error (after patch-i).