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is it possible to upgrade to SMA 500v ESX Virtual Appliance without having a valid support contract?
Without violating the license/contract terms you can't upgrade because you are entitled to update/upgrade firmware only when you have valid support contract.
The version you are running have reached end of support on 2019-09-30 so I suppose you already saved huge amount of money ;-)
Jokes aside, I suggest you to purchase multi year support (2Y at least) that will eliminate service backdating.
Please read the Service Reinstatement section here:
Seeing that vulnerabilities discovered more and more often I suggest to keep an eye open for new releases and vulnerability disclosures: