The picture of study material slide that you have uploaded is also not telling you anything about FDM having dependancy on VPXA.
the the purpose of vpxa in this slide is just to convey the message that when vCenter(VPXD) is communicating with ESXi host, it has first point of contact in Host which is this vCenter Agent called vpxa. and vpxa will then communicate to HostD. In vSphere 6 also, FDM does't have any direct dependancy on vpxa.
The slide you are referring is same in previous version of courses to. Like vSphere 5.1 or vSphere 5.5 ICM.
I couldn't find anything on VMware documentation which shows connection between FDM and vpxa.