If you are using a VSM that was generated from a recording or RR pairs then it should already handle responding to the request's replyTo queue automatically.
If this is a VSM that you've built by hand then it's still pretty easy in 7.5.1.
1. Add a filter to the step that receives the request: 'Messaging/ESB' -> 'Extract Payload and Properties from Message'. Make sure you enter something for 'Prefix for extracted details', and remember this prefix for later.
2. Go to your respond step, and replace the queue name in 'Publisher Info' -> 'Name' with a property substitution: '{{<prefix>.reply-to-queue}}'. If there's a replyTo queue manager then you can do a similar thing with 'Publisher Info' -> 'Alt QManager' and '{{<prefix>.reply-to-queue-manager}}'.
3. In the respond step, make sure to leave 'Server Connection Info' -> 'Share Sessions' unchecked.