It actually depends on the advanced features you are using, e.g. Distributed Switches, ...
If you don't use features which depend on the vCenter Server (except things like DRS), it's pretty straight forward to move the hosts to another vCenter Server.
What may be worth looking at, is whether you can also separate the datastores, i.e. don't use the same datastores on both vCenter Server environments. Although this may technically work, it might cause confusion at a later time.
Some things you may want to check:
- check whether any plugins need to be migrated too
- check whether 3rd party tools need to be reconfigured (e.g. backup)
- ensure that the new vCenter Server version supports the ESXi hosts
- disable HA, and set DRS to "Manual" (on both, the old and the new cluster) while migrating the hosts
- configure the cluster settings (e.g. EVC) on the new vCenter Server prior
André