I just posted an update to my blog article http://www.virtuallyghetto.com/2012/12/running-esxi-50-51-on-2012-mac-mini-62.html which includes a new customized ESXi 5.1 ISO based off of the one posted by zer010gic but this one now contains a customization so that the manual steps of setting the boot option & running the ESXCLI command to persist the iovDisableIR is no longer needed as it's automatically taken care of. You can just install ESXi as you normally would and don't have to worry about the PSOD's anymore and I've been able to verify this myself as I finally got my hands on a new Mac Mini 6,2
In addition, I've also added step by step instructions for installing zer010gic current ESXi 5.1 ISO, so hopefully that'll help others looking to install ESXi 5.1 without having to sift through all the comments in this thread.