Generally yes, especially in the long run
Vsphere 6.0 is not longer supported
As per:
https://www.vmware.com/resources/compatibility/sim/interop_matrix.php#interop&2=&1=
VCSA 6.7 is the last version that is able to talk to ESXi 6.0
It's advised actually to update ESXi version as well - at least to 6.5
