Upgrade vCenter/ESXi to fixed in version 7.0U3c or higher
Workaround:
If you can't upgrade you can perform one of the below workarounds.
1) Place the affected host into maintenance mode, then drag the affected host out of the cluster & then back in, and then take the host out of maintenance mode
2) Untag the current vmkernel port used for witness traffic, create a dummy vmkernel port and tag it for witness traffic, then untag the dummy vmkernel port and retag the original vmkernel port for witness traffic
Both these workarounds result in re-establishing communication with the witness host again.