Yes, in the /var/log/hostd.log.
Entries look like
2019-06-11T19:46:26.351Z info hostd[2099851] [Originator@6876 sub=Vimsvc.ha-eventmgr opID=e875846c] Event 6285 : User root@192.168.1.1 logged in as PowerCLI/11.2.0.12780525
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