The "Configuring vSphere HA on the cluster" task fails after a vCenter Server update or upgrade but eventually automatically self-remediates.
VMware vCenter Server
When the vCenter is updated or upgraded, the FDM agent on the ESXi hosts is updated as well.
This vSphere HA process is expected behavior and by design.
Single-Image Cluster
Non Single-Image Cluster (ie: Baselines)
The difference between a Non-Single-Image and Single-Image managed cluster is just the matter of which service is responsible for getting the FDM VIB installed on the ESXi hosts.
It is a similar process for both clusters as this can happen after a vCenter update/upgrade, and vSphere HA elections may be seen.