BIOS_FIRMWARE_TYPE WARNING because the servers are running in Legacy Boot mode.
vSphere ESXi 7.x
vSphere ESXi 8.x
This is because VMware has deprecated support long term for Legacy BIOS boot.
If the host is booting currently, it is ok to leave for now in Legacy Boot.
When ready (before an upgrade or during maintenance) switch the host to UEFI per hardware vendors instructions by changing boot mode to UEFI.
See KB 313152 for details on this process.