SSH access to the Supervisor Control Plane VMs uses an auto-generated password. The password for the system user on these VMs needs to be retrieved from associated vCenter.
IMPORTANT: Direct access to the vSphere Supervisor Control Plane VMs should be used with caution and for troubleshooting purposes only.
SSH to the vCenter as the root user, and enter the bash shell by typing shell
Run the following to retrieve the password
root@sfo-w01-vc01 [ ~ ]# /usr/lib/vmware-wcp/decryptK8Pwd.py

You should now be able to SSH to the IP of the vSphere Supervisor Control Plane VM (The IP returned will be the floating IP or FIP) with username root.