I have tried to install through VUM but it fails and after talking to nimble support tech it is not supported.
In nimble documentation the installation in cli is without the --no-sig-check but it wont install without it.
Download the NCM from infosigt
Upload the file with winscp or other and place it /tmp folder
Put the host in maintenance mode
execute: esxcli software vib install -d /tmp/nimble-ncm-for-esx5-2.3.1-500006 --no-sig-check
To verify the installation
esxcli software vib list | grep nimble
No reboot is necessary.