Usually the issue is fixed on uninstalling the VirtualBox and reinstalling it as it re-authorizes to load kernel modules
https://download.virtualbox.org/virtualbox/6.1.16/VirtualBox-6.1.16-140961-OSX.dmg
System Preferences > Security & Privacy > General
- Allow the App from Oracle
sudo kextload -b org.virtualbox.kext.VBoxDrv
sudo kextload -b org.virtualbox.kext.VBoxNetFlt
sudo kextload -b org.virtualbox.kext.VBoxNetAdp
sudo kextload -b org.virtualbox.kext.VBoxUSB
sudo /Library/Application\ Support/VirtualBox/LaunchDaemons/VirtualBoxStartup.sh restart