Thanks to @LucD for pointing me to the VMware API reference material, I was able to find this article on how to leverage a CimServer connection to remediate a single ESXi Host using vLCM.
$vCenter = 'vCenterName'
$viCredential = Get-Credential
$cluster = Get-Cluster -Name 'Cluster Name'
Connect-VIServer -Server $vCenter -Credential $viCredential
Connect-CisServer -Server $vCenter -Credential $viCredential
$clusterId = (Get-view -ViewType ClusterComputeResource | Where-Object { $_.Name -match $cluster }).MoRef -replace 'ClusterComputeResource-', ''
$vmHosts = Get-View -ViewType HostSystem | Where-Object { $_.Parent -match $clusterId }
$esxClusterSoftwareService = Get-CisService -Name com.vmware.esx.settings.clusters.software
foreach($vmHost in $vmHosts){
$hostId = $vmHost.MoRef -replace 'HostSystem-', ''
Set-VMHost -VMHost $vmHost.Name -State Maintenance -Confirm:$false
$spec = $esxClusterSoftwareService.Help.'apply$task'.spec.Create()
$spec.accept_eula = $true
$spec.hosts = @($hostId)
$esxClusterSoftwareService.'apply$task'($clusterId, $spec)
Set-VMHost -VMHost $vmHost.Name -State Connected -Confirm:$false
}
Just be sure to put in extra error handling to make sure maintenance mode completes before remediation starts, that remediation is successful, etc.