To answer this question please follow up with Palo Alto. VMware communication would still be forwarded the same way based upon configuration.
To address the Nutanix portion of this please follow up with Nutanix. VMware services are sensitive to packet inspection, particularly due to the impact on performance, visibility challenges with encrypted traffic, and recent changes to the NSX platform under Broadcom. While packet inspection can be used for security purposes, it must be implemented carefully to avoid unintended consequences.
Yes, ESXi can be sensitive to IDS/IPS and deploying these security tools in a virtualized environment requires careful planning to avoid performance issues and potential network disruption.
For vendor specific questions please follow up with the appropriate vendor. ESXi is compatible with Palo Alto firewalls, but performance sensitivity is something that must be taken into consideration when implementing different features.