Hello darkpeppy,
There's a guide here on how to setup failover and how to do some basic troubleshooting:
https://openvpn.net/vpn-server-resources/setting-up-high-availability-failover-mode/
With virtual platforms like ESXi it is often the case that the security policies on the virtual switches disallow certain traffic necessary for the shared IP to work correctly. It was either promiscuous mode or MAC spoofing that needed to be enabled, I forgot exactly which. You can run the test in the troubleshooting to see if the VRRP packets are making it from one node to the other node. If they don't, then both nodes will assume they are the master node and both try to take the virtual IP. You can also check /var/log/openvpnas.log to see if the node is currently trying to be the master node or the standby mode. One should be master and the other standby. When the master dies, the standby should become master automatically. If they're both master, it's the VRRP traffic that doesn't make it from one node to the other, something you can verify with the troubleshooting information given in the article I linked.
You could also consider using clustering, which also offers high-availability, and doesn't require VRRP or shared IP addresses. But it depends on your network situation if this is suitable or not.
Kind regards,
Johan