Gentlermen and Ladies

I am currently running a 24 node cluster using Dell M630 blades in M1000 Blade Chassis, I am running ESXi 6.0.0. I have 14 RDM drives attached to each of the 24 nodes for two separate MSCS SQL clusters each Cluster has 6 RDM's for a total of 12 mappings per node. I have seen the articles on the RDMs causing an extremely long boot first, it takes 30 to 40 mins just to restart and then the Node gets stuck at VMW_SATP_ALUA for a majority of the boot sequence.

Can anyone tell me what the remedy is and is there a written procedure for fixing it