When there are multiple VMs showing as inaccessible/orphaned in vCenter yet all vSAN objects are healthy you can run vsan.check_state -re to refresh the VMs in vCenter
Note: The -e switch will unregister/re-register inaccessible VMs which will change the VMs MOD ID so if there are 3rd party applications that depend on these MOD IDs additional steps will need to be taken with those 3rd party applications. If dealing with just Orphaned VMs you can run just the -r switch which will just refresh the VM state.