Transport Node Profile is not configured on the cluster but NSX-T Data Center is installed on the following host(s): Apply Transport Node Profile without N-VDS on the cluster, or uninstall NSX-T Data Center.
VMware NSX
Although no Transport Node Profile is configured on the cluster, NSX-T VIBs are present on ESXi hosts. These residual VIBs blocks the image-based upgrade process.
Remove residual NSX VIBs from all affected ESXi hosts and then re-initiate the image-based upgrade.
Guidelines to remove NSX-VIB's : Uninstall NSX from a Managed Host in a vSphere Cluster
List out the NSX-VIB's from the host using command : esxcli software vib list | grep -E 'nsx|vsipfwlib'
If issue still persists, please open a support case with Broadcom Support and refer to this KB article.
For more information : Creating and managing Broadcom support cases