Hey,
As mentioned, you can use Agent-based migration, which will allow you to avoid installing Azure Migrate appliance on your ESXi host. https://learn.microsoft.com/en-us/azure/migrate/tutorial-migrate-vmware-agent
As another option, you can use StarWind V2V Converter. It also doesn't need to be installed on the ESXi. You can connect your hosts remotely. https://www.starwindsoftware.com/v2v-help/VMfromVMwareESXiServertoMicrosoftAzure.html
Cheers,
Alex Bykovskyi
StarWind Software
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