This issue occurs because the Liquibase scripts expects the encryptionkeys_pkey constraint to be existing on the table EncryptionKeys and when it does not exist, this failure happens.
This is a known issue affecting VMware vRealize Automation 7.3.
Currently, there is no resolution.
Workaround:
To work around this issue, create the encryptionkeys_pkey on table EncryptionKeys and then perform upgrade.
Note: Take snapshot of your vRA machines before proceeding with these changes.