The vmx process crashed around processing the message event "[msg.mks.noGPUResourceFallback] Hardware GPU resources are not available. The virtual machine will use software rendering". As the vmx process passed a message event with invalid string to hostd just before the crash, hostd can't create a proper response to GetChange request from vpxa, hence vpxa gets an error on deserializing SOAP response body and decided to exit by itself.
It results in ESXi host not to respond to a heartbeat from vCenter.
This is a known issue affecting ESXi 6.0
VMware vSphere ESXi 6.5 P02 (ESXi650-201712001)
To download, go to Customer Connect Downloads.
To workaround the issue, restart the ESXi host daemon and vCenter Agent services using these commands:
/etc/init.d/hostd restart
/etc/init.d/vpxa restart