Sometimes TPM function could be misconfigured and causes unwanted error message. For environment where TPM isn't required, disabling TPM from UEFI/BIOS can be fast solving problems.
This KB shows how to disable TPM from iDRAC BIOS. For UEFI/BIOS of other brand, please consult hardware vendor for guidance.
[root@esxi:~] esxcli hardware trustedboot get
Drtm Enabled: false
Tpm Present: true
[root@esxi:~] esxcli system settings encryption get
Mode: NONE
Require Executables Only From Installed VIBs: false
Require Secure Boot: false