I've put together a working version (atleast for me) of the ESXTop Zenpack. It is available in the GitHub:
https://github.com/ju55i/ZenPacks.zenoss.EsxTop/tree/develop
It works at least with the 5.0 version of the resxtop. I've also optimized it a little bit. There was a import from ZenUtils in the check_esxtop command which triggers lots of other imports and causes a massive slowdown. I brought the imported function straight to the module.