The workaround suggested in the release notes is "None. These errors can be ignored." While this is true, you can perform these steps to stop the alerts from appearing.
This is the excerpt from the Known Issues Section of the VMware vCenter Server 4.0 Update 2 release notes.
VMware HA and Fault Tolerance
HA agent has an error: Timeout while communicating with the HA agent
Errors similar to the following might be written to the vpxa log:
[2009-08-06 03:54:41.358 0xf7b9ab90 error 'App'] [MIGRATE] (1249555939468000) VMAP error in CompleteSource
[2009-08-06 03:54:41.361 0xf7b9ab90 verbose 'App'] [VpxVmomi] Invoke error: vim.host.VMotionManager.completeSource session: 521e2b88-6177-ff48-cdf4-8af2932abac0 Throw: vpxapi.DasCommunicationFault
Workaround: None. These errors can be ignored.