I have been getting this error frequently lately while doing upgrades from ESXi 6.5 and 6.7 to 7.x regardless of the hardware vendor.
If you add an upgrade baseline to the cluster or host, and you try to remediate the host, the task fails with a dependency error. When taking a closer look into the tasks details, you were getting told that the task has failed because of a failed dependency, but not which VIB it caused.
Good luck!