First, see here for general VirtualBox troubleshooting and a lot of known issues:
But to your point, this might be useful:
https://www.reddit.com/r/voidlinux/comments/fg2yim/virtualbox_error_0x80004005/
I run void linux as guest in virtualbox and it worked for me without problems until today. Now my guest desktop gets spammed with notifications like:
VBoxClient: Failure waiting for event, rc=VERR_INVALID_HANDLE
VBoxClient: Failed to get display change request, rc=VERR_INVALID_HANDLE
VBoxClient: VbgIR3InitUser failed: VERR_ACCESS_DENIEDI suppose this has to do with a kernel update from yesterday. Maybe this is somehow related to your problem?
Later they say:
I could solve my virtualbox guest problems by installing linux-headers and virtualbox-ose-guest-dkms with xbps. The latter really fixed everything. Maybe in your case you could try installing virtualbox-ose-dkms. Hope this helps if you haven’t found a solution already.
Since a few known problems relate to not having linux-headers installed, maybe it is related.