USB Installer Creation

Windows

Using Rufus on Windows is preferred, as it modifies the ISO appropriately and compliments the VMware image customization tools you may already be using. 

Linux

Prepare medium as directed here

    https://www.altaro.com/vmware/esxi-usb-flash-drive-linux/

then add some missing files

cd /usr/lib/syslinux/modules/bios/
cp libcom32.c32 libutil.c32 menu.c32 boot.c32 /media/path/to/usb/drive/

Troubleshooting

If you get the boot error

loadin -c failed no files found

Switch to to UEFI boot mode, legacy doesn't work it seems 

Sources

https://askubuntu.com/questions/612746/ubuntu-live-usb-wont-boot-failed-to-load-com32-file-menu-c32

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