Symptoms:
2017-09-06T15:14:57.469Z info vpxd[7F23C5425700] [Originator@6876 sub=InvtHostCnx opID=AddHostWizard-add-682626-ngc-15] [VpxdInvtHostCnx] SSLVerifyException: Untrusted certificate found on host <esxihostname> Pushing new certificate...
2017-09-06T15:14:57.504Z info vpxd[7F23AB8F1700] [Originator@6876 sub=vpxLro opID=dam-auto-generated: GenerationNumbersMonitor:dr-81:01-57] [VpxLRO] -- BEGIN lro-13752100 -- ResourceModel -- cis.data.provider.ResourceModel.query -- 52b
2017-09-06T15:14:58.218Z info vpxd[7F23C5425700] [Originator@6876 sub=Vsan opID=AddHostWizard-add-682626-ngc-15] Destroying VSAN dynamic MOs for host-ID.
2017-09-06T15:14:58.220Z info vpxd[7F23C480D700] [Originator@6876 sub=licenseClient opID=AddHostWizard-add-682626-ngc-15-LicenseClientUnregisterHostAsync-413
12d8c] Unregister host: 'host-ID'
2017-09-06T15:14:58.251Z info vpxd[7F23C5425700] [Originator@6876 sub=vpxLro opID=AddHostWizard-add-682626-ngc-15] [VpxLRO] -- FINISH task-290806
2017-09-06T15:14:58.251Z info vpxd[7F23C5425700] [Originator@6876 sub=Default opID=AddHostWizard-add-682626-ngc-15] [VpxLRO] -- ERROR task-290806 -- group-h4
-- vim.Folder.addStandaloneHost: vmodl.fault.SystemError:
--> Result:
--> (vmodl.fault.SystemError) {
--> faultCause = (vmodl.MethodFault) null,
--> faultMessage = <unset>,
--> reason = "Unable to get signed certificate forhost name 'esxihostname' ip '###': Error: Operation failed with error = ERROR_ACCESS_DENIED (5) (5)"
--> msg = ""
17-09-06T15:14:58.161832+00:00 info vmcad t@140635667420928: Checking user's group: cn=DCClients,cn=Builtin,dc=vsphere,dc=local against CA admin group: cn=CAAdmins,cn=Builtin,dc=vsphere,dc=local
17-09-06T15:14:58.162232+00:00 warning vmcad t@140635667420928: error code: 0x00000005
17-09-06T15:14:58.162680+00:00 warning vmcad t@140635667420928: error code: 0x00000005
17-09-06T15:14:58.163033+00:00 warning vmcad t@140635667420928: error code: 0x00000005
The user this was attempted with was not a member of CAAdmins.
First option is to change vpxd.certmgmt.mode from vmca to thumprint to add ESXi host.
If that doesn't help, add DCAdmins , DCClients and waiter- under CAAdmins SSO group .
These are created by default during installation or upgrade and add ESXi to VC with the vpxd.certmgmt.mode in vmca.