You add and remove ESXi hosts to a vSphere Trust Authority Cluster by using VMware-supplied scripts.
In vSphere 7.0, you add and remove ESXi hosts to and from an existing vSphere Trust Authority Cluster or a Trusted Cluster by using VMware-supplied scripts. In vSphere 7.0 Update 1 and later, you use the remediate function to add ESXi hosts to an existing Trusted Cluster. See Add a Host to a Trusted Cluster Using the vSphere Client and Add a Host to a Trusted Cluster Using the Command Line.
In vSphere 7.0 Update 1 and later, you still must use scripts to add ESXi hosts to an existing Trust Authority Cluster. See the VMware knowledge base articles at https://kb.vmware.com/s/article/77234 and https://kb.vmware.com/s/article/77146.