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Hi,
pulling a disk out of a server doesn't simulate a hard drive failure.
Instead it does simulate a lack in your datacenter security concept.
Usually you could try to read SMART data or use the SCSI Sense Codes which a disk still capable to answer would send back to the requestor to inform him about the reason why a command didn't succeed.
But due to the nature of vSphere it usually hides the underlying HW from the VM and it's guest OS.
You could use a pRDM instead of a vmdk, in that case the VM and it's Guest OS would be able to use SMART..
But even this approach would have some limits.
Even a pRDM would require a vmdk descriptor file, and if you would pull the physical disk and replace it with a different one the vmdk descriptor file wouldn't be updated.
And as it does contain the old Device Identifier it won't grant your test VM access to the new physical disk.
To the best of my knowledge the only way to achieve what you're asking for might be PCI passthrough.
Add a PCI (RAID) Controller with some disk (or a NVMe SSD) to your ESXi and use PCI passthrough to grant your test VM exclusive access.
But I never run a similar use case like you're asking for, so no guarantee it would work as needed.
Hope this helps a bit.
Greetings from Germany. (CEST)