It’s not immediately obvious where you configure vm’s to startup automatically when the esxi host starts.
In Hosts and Clusters view (in Virtual Centre), click on the ESXi host – that’s HOST, not GUEST, i.e. the machine running vmware esxi, not the virtual machine itself.
On the Configuration tab, in Software settings, select Virtual Machine Startup/Shutdown.
By default, automatic startup of virtual machines is disabled, so you need to enable it before you can move the vms upwards into Automatic Startup. Click Properties in the top left hand corner and tick
Allow Virtual Machines to start and stop automatically with the system.
Select your DC and/or VC vm and move it all the way up so it exists in the Automatic Startup section of the Startup Order Dialog box.
Apply a delay if you want to, but don’t choose a value less than 90 seconds.