When deploying new ESX (v7.0.2 Ud) on new Dell PowerEdge (R350) server the following message appears after the installation of ESX and adding to vCenter

It appears that you can’t deploy out the box with a TPM tweak in the BIOS to allow clearing this error.
I placed the iDRAC console into “BIOS boot mode” (to save faffing about pressing “F8,F2,F5” keys, whichever one it is) before rebooting.

System BIOS -> System Security | Enable “Intel(R) TXT”

System BIOS -> System Security -> TPM Advanced Settings | Enabled “SHA256”

After a reboot of the host, the error can be cleared back in vCenter

Note: The server is not currently using “Secure Boot”