Provide more details like ESXi/vCenter version etc.
You can uninstall the HA agent VIB package manually with this command:
# esxcli software vib remove -n vmware-fdm
VMware KB: Cannot install Fault Domain Manager agent for VMware HA after agent is uninstalled
On older versions you may have to run an uninstallscript, see this article:
VMware KB: VMware vSphere 5.x High Availability (FDM) fails to configure and a timeout is reported d...
After uninstalling the agent remove the host from the cluster and re-add it to the cluster.
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