Upgrading from an older version of ESXi it’s possible to get this error.
You can find the name of the VIB that is causing the error on the update manager tab of the host. The status of the baseline is “incompatible”, and not “non-compliant”.
Search the name of the VIB with following command
esxcli software vib list | grep -i <NAME OF VIB FOUND ON THE GUI>
Remove the VIB with following command
esxcli software vib remove -n <NAME OF THE VIB FOUND ON THE PREVIOUS COMMAND>
Reboot the ESXi Server