There is no trial version of vSAN Witness Appliance. I think this is the reason you are not getting "witness" SKU in the price list. Any vSAN customer, who wants ROBO or Stretched vSAN cluster, can use vSAN Witness Appliance free of cost.
So if I understand correctly, if the customer purchase the VSAN ROBO license, the witness is included in that license and then they can deploy it at the main site like it shows in the architecture reference?
The Witness license is not included in the ROBO license as Witness Appliance has its own license. After deploying Witness Appliance, you can add it as a normal ESXi host in the vCenter inventory. When you add Witness Appliance as a Host in vCenter Server, you would get option to assign the embedded license as shown below in screenshot.

If you use some other license at the time of adding Witness Appliance to the vCenter inventory then you cannot change it back to use the embedded license.
This is the warning message which you get when you select some other license than embedded license while adding Witness Appliance to the vCenter inventory:
"You are about to change the embedded OEM licenses of some assets and you might be unable to assign back these licenses at a later stage. Contact your hardware vendor for confirmation."
vSAN Witness Appliance has special icon (blue in color), to distinguish it from other ESXi hosts in the cluster.
Just in case, here are the download links:
vSAN 6.2 Drivers & Tools page - Download VMware vSAN
vSAN 6.5 Drivers and Tools page - Download VMware vSAN
Hope this helps.
_________________________
Was your question answered correctly? If so, please remember to mark your question as "Correct" or "Helpful" when you get the correct answer. This helps others searching for a similar issue.
Cheers!
-Shivam