When you have a VMWare ESXi server, there is a free VMWare Converter tool available to convert both physical and virtual machines to an ESXi virtual machine.
- For Windows machine, you do need the ESXi server as a destination, for Linux machines, you can just convert them to a VMWare image. You also need to turn off simple file sharing and the firewall.
- If the conversion process fails, you may get weird error messages when you try to re-run the process. I had to uninstall and re-install the Converter tool.