Hello.
The first thing is that you update the vcener server (VCSA) first and then the ESXi hosts.
If you have version 6.5 or 6.7 in the ESXi hosts, the VCSA ver 7.0 supports ESXi hosts with these versions.
If you do not need the history of the old VCSA, I suggest you shut it down and create a completely new one in version 7.0, then add the old ESXi hosts and from there plan how to upgrade the ESXi hosts. At the end after verifying that all is ok we can delete the old VCSA (to save space).
If for some reason the installation of the new VCSA fails, then delete this one and we are left with the old VCSA.
Remember that if you work with Data it is always recommended to backup the VMs, backup the ESXi hosts configuration and the VCSA.