I have a vsphere 6.5 environment which consists of 5 ESXI hosts grouped in a cluster and managed by Vcenter server,  now i want to configure the vsphere HA with customised settings , in other words , i want to choose when a VM crash , where it will restart  (i need to decide on which ESXI host the VM will restart and not automatically decided by the Vcenter server)

Also when a host fails and its VMs restarted on another hosts , i want these VMs automatically return back to the failed host when it becomes online again   

Can anyone kindly help me with that ?