We created some new clusters, and when we configured DRS, this error message popped up – vSphere DRS functionality was impacted due to unhealthy state vSphere Cluster Services caused by the unavailability of vSphere Cluster Service VMs. vSphere Cluster Service VMs are required to maintain the health of vSphere DRS.
We tried a few things that VMware KB articles suggested, but no solution. After opening the case with VMware, they were able to point us in the right direction – https://kb.vmware.com/s/article/2112577. The vCenter certificate replacement we performed did not do everything correctly, and there was a mismatch between some services. After following the instructions from the KB article, the vCLS VMs were deployed correctly, and DRS started to work.