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In this how-to I use Comodo PositiveSSL Wildcard Certificate.

Make bundle with Wildcard Certificate and Intermediate CA Certificates

cat USERTrustRSAAddTrustCA.crt SectigoRSADomainValidationSecureServerCA.crt > bundle_for_idrac.crt

Check iDRAC connection via remote racadm

If you not recieve answer - check username/password/ip/etc.

racadm -r -u root -p calvin getsysinfo

Upload key via racadm

racadm -r -u root -p calvin sslkeyupload -t 1 -f

Good answer is: SSL key successfully uploaded to the RAC.

Upload certificates via racadm

racadm -r -u root -p calvin sslcertupload -t 1 -f bundle_for_idrac.crt

Good answer is: DH010: Reset iDRAC to apply new certificate. Until iDRAC is reset, the old certificate will be active. Reset the iDRAC. The iDRAC can be reset by pressing the Identify button for 15 seconds. Using the RACADM command line utility, run "racadm racreset".