Manual update of ESXi using a custom image is failing with following error: 

<cli>esxcli software vib update -d /vmfs/volumes/XXXX/VMware-ESXi-6.7.0update03-xxx-CUST.zip
[DependencyError]esxcli software sources profile list -d /vmfs/volumes/path_to_your_datastore/VMware-VMvisor-Installer-6.7.0.update01-10764712.x86_64-DellEMC_Customized-A03.zip

VIB VMware_bootbank_esx-base_6.7.0-3.xxx requires esx-update >= 6.7.0-3.163, but the requirement cannot be satisfied within the ImageProfile</cli>
You need to specify the profile that you want to usin within the zip file:
<cli>esxcli software sources profile list -d /vmfs/volumes/path_to_your_datastore/VMware-VMvisor-Installer-6.7.0.update01-10764712.x86_64-DellEMC_Customized-A03.zip

Name                             Vendor  Acceptance Level  Creation Time        Modification Time
-------------------------------  ------  ----------------  -------------------  -------------------
DellEMC-ESXi-6.7U1-10764712-A03  Dell    PartnerSupported  2018-11-08T08:39:27  2018-11-12T10:13:38
</cli>

Run then the following:
<cli>
esxcli software profile update -p DellEMC-ESXi-6.7U1-10764712-A03 -d /vmfs/volumes/path_to_your_datastore/VMware-VMvisor-Installer-6.7.0.update01-10764712.x86_64-DellEMC_Customized-A03.zip</cli>