This article lists the steps to add a "Compute Only" Node or a ESXi host with no local storage to a vSAN Cluster
For more information please check:
Asymmetrical vSAN Clusters - What is Allowed, and What is Smart
VMware vSAN 7.x
VMware vSAN 8.x
To add a compute only node to a vSAN cluster, three high level steps need to be followed:
Add a Host to the vSAN Cluster
Add Hosts to a vSphere Distributed Switch