Hi,
not sure where you found the statement that it would require (or work only) with SCSI controllers.
As all IO Operations on HDDs/SSDs regardless of the interface (SATA, SAS, NVMe) rely on SCSI CMDs the type of the used virtual controller shouldn't care.
As stated in the mentioned articles, VMFS does support TRIM and UMAP, so if the underlying storage and the Guest VM also do support it than you're fine.
vSAN also support it, but you might need to activate it manually.
Keep in mind that it would require additional steps on vSAN from within the VMs when this feature wasn't initially enabled.
As vSAN didn't reclaim the space when the feature wasn't activated the VM need to rerun a space reclaim operation so that vSAN would receive Trim & Umap commands again to reclaim space.