Previously, transitioning from vSphere Lifecycle Manager Baselines to vSphere Lifecycle Manager Images was NOT supported with VMware Cloud Foundation 4.x and 5.1. This has changed in and transitioning from vSphere Lifecycle Manager Baselines to vSphere Lifecycle Manager Images IS now supported with VMware Cloud Foundation 5.2+ and 9.x.
VMware Cloud Foundation 4.x
VMware Cloud foundation 5.1
VMware Cloud Foundation 5.2+
VMware Cloud Foundation 9.x
Here is the proces in 5.2
Transitioning from vSphere Lifecycle Manager Baselines to vSphere Lifecycle Manager Images
Note: In a non-SDDC environment, this warning message may be safely ignored
If a user wants a vLCM cluster, either create a new vLCM based Workload Domain and create a vLCM cluster or create a new cluster in already existing vLCM based Workload Domain from SDDC Manager.