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I've just had the same error and have managed to resolve the problem.
It appears that self signed certs for the vRA are only generated for 1 year. (Dear VMware change the default to 10 years please )
To resolve the issue simply login to the vRA at each site access the configuration tab, input the password and then click the Generate and Install button under Install a new SSL Certificate.
This will generate a new self signed certificate and restart the VRM service. I had to use Firefox for this as Chrome would just hang.
vCenter all happy and can monitor/manage replication again.