Prior to upgrading your 6.x cluster run the following command grep GroupV6 /etc/vmware/esx.conf to see if you're susceptible to this issue. If you get no results then upgrade vCenter/ESXi to either 7.0U3l or 8.0b or higher
If you see the below similar output then you're not susceptible of hitting this issue and can upgrade to any version of 7.x or 8.x, however, VMware recommends updating to the latest code of either 7.x or 8.x.
/vsan/network/child[0000]/agentGroupV6 = "ff19::x:x:4"
/vsan/network/child[0000]/masterGroupV6 = "ff19::x:x:3"
Workaround:
If the cluster has already been upgraded to 7.x below 7.0U3l or 8.x below 8.0b and experiencing host(s) partitioned from the cluster then check the vSAN vmk port and ensure the vSAN Tag is still present, if it's missing add it back and the host will join the cluster.