Hello Albert,
I would never use only the "Critical Host Patches" baseline for remediation, but only for checking compliance to ensure that all critical patches have been applied.
To bring ESXi to a consistent known state remediate your hosts with custom baselines to which you add a "Rollup bulletin". Rollup bulletins are published with every ESXi patch and include all fixes (critical and non-critical, security and bug fixes) that were released so far.
You can find more information about rollup bulletins in this blog post: New Rollup Bulletins Simplify VMware ESXi Updating - VMware vSphere Blog
There have been very few issues in the past with ESXi patches, so I consider it safe to always install the latest one for every ESXi version. However, you can also always select an older rollup bulletin, or test each new rollup in a test environment first.
- Andreas