Which version of ESXi are compatible with VMware Unified Access Gateway?

Dear VMware EUC community,

I would like to check compatibility of VMware Unified Access Gateway(UAG) with hypervisor software.

I've checked that UAG is compatible with Hyper-V(2012 R2/2016).

But I could not find which version of ESXi are compatible with UAG.

I have checked below page and found that UAG can be used on VMware ESX host(not an ESXi).

It seems to be that I can deploy UAG on my ESX host even if I'm using ESX 4.x...

https://docs.vmware.com/en/Unified-Access-Gateway/3.2/com.vmware.uag-32-deploy-config.doc/GUID-F1C1700C-EB06-4F59-8CE6-F155C9AD8555.html

But I could not find any compatibility results on VMware product In Interoperability Matrices.

VMware Product Interoperability Matrices

Does anyone know which version of ESX/ESXi host can support UAG?

If there are some information, can you please tell me?

Any contribution on this thread would be greatly appreciated.

Regards

Yammy