Restoring VMware Files and Folders with No Agents (Windows)

The altnames feature should do exactly what you are dreaming about.
Please look under the title About allowing a single client to perform redirected restores in the Nbu admin guide.

Suppose your terminal server hostname is term1, create the following file on the master server (not folder, and without extensions such as .txt):

Install_path\NetBackup\db\altnames\term1

Use notepad to add to this ASCI-format file the names of the VMs - as cataloged from the VMware backup jobs - one name per line; upper/lower case matters.

Effectively, you will be granting term1 permission to restore other clients' files (in your case, the VMs').
The Destination client field on term1 should become editable.

Suppose you need to restore a file back to a VM named vmserver1 and it does not have the Nbu Client installed, you can first restore the file to term1, then from term1 send this file to vmserver1 using Windows share folders / UNC paths.

I would also recommend reading up on No.Restrictions, which is essentially an all-clients-can-restore-all-clients version of the above, but I do not recommend it for production use for security reasons.