Disabling SIP works.
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Disable the SIP per the link above from @rbarguelles
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Then run the
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;
it may tell you that you have to “Approve in System Preferences …”
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Then open up
System Preferences
(check to see if you need to “approve” anything under Privacy & Security). It may also tell you to reboot to enable new extensions … or something like that -
Reboot to have the kextload take effect