When upgrading ESXi on a host, you must also install new NSX VIBs on the host to be compatible with the new ESXi version.
For instructions to upgrade ESXi hosts in the NSX Data Center for vSphere environment, see Upgrading ESXi 6.7 in an NSX Environment.
For instructions to upgrade ESXi hosts in the NSX-T Data Center environment, see Upgrade ESXi Host.