vCenter Major Upgrade through Upgrade Runner mechanism, does not delete the old vCenter VM post upgrade.
As per VCF design guidelines, the administrator has to delete the old vCenter VM manually post the upgrade. https://docs.vmware.com/en/VMware-Cloud-Foundation/5.2/vcf-lifecycle/GUID-3B41CF79-C721-4AFC-A263-0672143DF41E.html#GUID-A2E3B776-F64A-42B5-8266-51FF74B96D6C__GUID-13BC04AD-A851-46DD-9DBB-114F609B1551 (Refer Step 9 in Procedure).
If stale vCenter VM is still present during the next upgrade, precheck/upgrade workflow can fail when fetching the DNS Server name or vCenter name. The DNS Server details/source vCenter name is fetched based on IP or FQDN of vCenter. If old vCenter is still present, sometimes old VM reference can be returned resulting in subsequent failure.
Manually delete the old stale vCenter VM before initiating the vCenter Upgrade workflow.