If you want to have some background about RMRR, there is this old Redhat whitepaper.
https://access.redhat.com/sites/default/files/attachments/rmrr-wp1.pdf
ESXi is not Linux. I refer to you the Redhat whitepaper because RMRR is part of Intel VT-d specification/rules. So ESXi would also have to aware of those VT-d specs. According to the Redhat paper a lot of motherboard makers don't really follow the RMRR spec/rules.
For UEFI settings, you could try Above 4G Decoding=Enabled, Memory Remapping=Disabled
Another possible thing to try is VT-d enabled, Above 4G Decoding enabled but add the following ESXi boot option (press Shift-O at the start of the "Loading VMware ESXi" screen)
panicOnInvalidRMRR=FALSE
The RedHat paper mentions the intention of RMRR is for legacy devices like USB, integrated graphics. So if that is the case you could try to disable any legacy device not used (USB, COM serial ports, shrink the Intel graphics memory, etc) but that's a complicated path to take.
Have you tried going back to the previous firmware version?