“Cannot validate Manager Service host. The remote certificate is invalid according to the validation procedure” error when installing vSphere Proxy Agent

When attempting to install a new vRA vSphere Proxy Agent whilst on a customer engagement, I encountered the below error when testing the connection to the Manager Server Host and Model manager Web Service Host VIPs during the Install Proxy Agent wizard:

“Cannot validate Manager Service host. The remote certificate is invalid according to the validation procedure.”

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