Hello
Your issue resembles with one of the below VMware kb article. Please follow the steps provided in kb article.
https://knowledge.broadcom.com/external/article/398973/upgrade-or-patching-of-70-esxi-host-fail.html
If above step is already provided by VMware then please involve them in a call to have thorough troubleshooting.
One suggestion -
You can try to install ESXi from scratch as well if it is feasible and keep your infra ready or available on other 2 hosts as described by you that you have 3 node cluster.