Even this answer is perhaps a very long comment. A larger class of equations, strictly including the class of hypoelliptic ones, was first studied by Mstislav Vsevolodovich Keldysh, Gaetano Fichera and later by Ol’ga Arsen’evna Oleĭnik and Evgeniĭ Vladimirovich Radkevič: this is precisely the class of equations with nonnegative characteristics. This class includes (standard and degenerate) elliptic and parabolic PDE, and others kind of PDEs as well: it was at first investigated with the aim to develop a unifying approach to the general theory of PDES, precisely to develop a general theory of variable coefficients linear differential operators. As such, the PDEs studied are not required to strictly have $C^\infty$-regular coefficients, and no other requirements are imposed on coefficients except for the positive semi-definiteness condition on the leading coefficient matrix, i.e.
$$
\sum_{i,j=1}^n a_{ij}\xi_i\xi_k \ge 0 \quad\forall \boldsymbol{\xi}=(\xi_1, \ldots,\xi_n)\in\Bbb R^n \label{1}\tag{1}
$$
And the above equation is obviously an equation with non positive characteristics, since by putting
$$
(\tilde a_{ij})_{i,j=1,\ldots,d+1}=\begin{pmatrix}
a_{11} & a_{12} & \cdots & a_{1d} & 0\\
a_{21} & a_{22} & \cdots & a_2^n & 0\\
\vdots & \vdots & \ddots & \vdots & \vdots\\
a_{d1} & a_{d2} & \cdots & a_{dd} & 0 \\
0 & 0 &\cdots & 0 & 0
\end{pmatrix}
$$
we have that \eqref{1} is trivially satisfied since $(a_{ij})_{i,j=1,\ldots,d}$ is uniformly elliptic and
$$
\sum_{i,j=1}^{d+1} \tilde a_{ij}\xi_i\xi_k=0
$$
for all vectors of the form $\boldsymbol{\xi}=(\xi_1, \ldots,\xi_d, \zeta)=(0, \ldots, 0, \zeta)\in\Bbb R^{d+1}$, with obvious meaning for $\zeta$.
Now, even if we try to sketch the basic theory of such classe of equations, this would led us too far away: the theory involves non only (and at a later stage) Hörmanders's condition but also Fichera's function and other interesting and important techniques. Also, several existence and uniqueness theorems for weak as well classical solutions are stated and proved by the authors above and various other ones, therefore I advice you to have look at the books and papers cited in the "References section".
Notes
- Reference [1] is the main monograph on the topic: it offers a presentation of the state of the theory up to 1973, including all mayor results in the area, therefore it is possible that you'll find something useful there.
- The last two papers [2] and [3] by Radkevič form an updated and comprehensive survey describing the state of topic up to 2008, so perhaps they would be the best places where to start if you want to have a "taste" of the current theory.
Again my two cents.
References
[1] Ol’ga Arsen’evna Oleĭnik, Evgeniĭ Vladimirovich Radkevič, "Second order equations with nonnegative characteristic form", (Russian) Itogi Nauki i Tekhniki. Seriya "Matematicheskii Analiz" 1969, 7-252 (1971), Zbl 0217.41502. Translated as the book:
Ol’ga Arsen’evna Oleĭnik, Evgeniĭ Vladimirovich Radkevič, Second order equations with nonnegative characteristic form, Translated from the Russian by Paul C. Fife. New York-London: Plenum Press, 1973, pp VII+259, ISBN: 0-306-30751-0, MR0457908.
[2] Evgeniĭ Vladimirovich Radkevich, "Equations with nonnegative characteristic form. I", (English. Russian original) Journal of Mathematical Sciences, New York 158, No. 3, 297-452 (2009); Translation from Sovrem. Mat. Prilozh. 55 (2008), DOI:10.1007/s10958-009-9395-1, MR2675371, Zbl 1200.35158.
[3] Evgeniĭ Vladimirovich Radkevich, "Equations with nonnegative characteristic form. II", (English. Russian original) Journal of Mathematical Sciences, New York 158, No. 4, 453-604 (2009); translation from Sovrem. Mat. Prilozh. 56 (2008), DOI:10.1007/s10958-009-9395-1, MR2675371, Zbl 1200.35157,