There aren't many tutorials about this, the only tutorials I've found were about passing through entire PCIe cards to VMs, or refered to old ESXI versions (below 6.5) that used a more comprehensive desktop client instead of the web app. In v6.5, the web app was introduced and the desktop client was deprecated. This tutorial shows you how to pass SATA HDDs to the virtual machine on VMWare ESXI 6.5. This tutorial is partially based on VMWare's own KB and the now deprecated Forza IT blog post.
We attach the SATA HDDs as an RDM (Raw Device Mapper) into an existing virtual disk on command line, then on the web app, we attach a new SCSI controller to the VM, and attach the newly created RDM as an "existing HDD" to the newly created SCSI controlle