vCenter upgrade initiated from SDDC Manager fails at stage VCENTER_UPGRADE_PRECHECK due to untrusted URLs

Products

• VMware SDDC Manager

Issue/Introduction

• Update workflow fails on the VCENTER_UPGRADE_PRECHECK step.
  
  
• On the lcm-debug logs we are seeing errors similar to the following:
  
  upgradeId: <upgrade_Id>
upgradeStatus:COMPLETED_WITH_FAILURE,upgradeError:
VCENTER_UPGRADE_PRECHECK,errorCode:com.vmware.vcf.error.update.vc.bundle.precheck.error,errorDescription:
VCENTER res-vc upgrade failed due to errors Source ESX Agent Manager Configuration contains URLs that are not trusted by the System! 
Please refer to https://kb.vmware.com/s/article/93526 to trust the URLs: <VIB/OVF/ZIP URL>

Environment

VMware SDDC Manager 5.x
VMware vCenter 8.x

Resolution

Issue and resolution steps are described in KB article:

313026 - Upgrade Pre-check states "Source ESX Agent Manager Configuration contains URLs that are not trusted by the System!"