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Hi
There are three method of ESXi upgrade procedure and in your situation you can use two of them:
1. Use vSphere Update Manager to upgrade your host and as you said because there is no vCenter, you cannot use this way.
2. Put source of appropriated ESXi source into the CD/DVD-Rom of your physical server, go to installation process and then when the wizard detect there is another ESXi in the server, choose first option: Upgrade and preserve VMFS datastore (to keep your machines). Then restart the server and your host is upgraded.
3. Copy source of ESXi ISO in your host file system in an specified path. If you are no so familiar with Linux file system, you can put them in one of datastore, Their path is here: /vmfs/volumes/ [datastore_name] / ....
Then in the shell access or SSH connection type following command:
esxcli software vib install -d /vmfs/volumes/datastore_name/___ISO___/ESXi.iso
I hope it can be helpful for you