Know the thread is old but ran into this issue when i was asked to fix a Raspberry pi with an older version of retropie that was getting the vlc error the OP was getting, fixed it with the following command.
sudo apt-get install libvlc5
also got the following error also with libbrcmEGL.so after the above was fixed so used the following to fix this one also.
sudo apt-get install libraspberrypi0
after these two, retropie and emulationstation functioned as it should.