esxcli vsan storage list
and
esxcli vsan storagepool list
These will confirm that both configurations are present on the hosts: vSAN OSA disk group (claimed, in use) alongside vSAN ESA Storage Pool (unclaimed).
VMware vSAN
This issue is caused by the presence of unclaimed storage devices, previously configured for vSAN ESA Storage Pool but not wiped after being decommissioned from previous setup.
At current, SDDC Manager upgrade workflow checks only single (current / vSAN OSA) configuration in use and does not detect alternative (vSAN OSA, unclaimed) configuration present.
Manually remove partition from unclaimed devices using Remove Partition From Devices.