Win XP 64-bit played sounds fine under Win 10, though VirtualBox 5.2.x did not properly pass it onto the host system. 6.1.x fixed the issue. Also in general, Windows 7 and up play much better in never versions.

A common issue with Linux hosts of no sound, is about setting the Virtual Box host system audio driver in a certain way. In most cases the ALSA option works, though some people have gotten it to work with PulseAudio.

BTW, Virtual Box 4.3.x is practically unusable on Windows 10. A Windows 10 update rendered the normal start-up procedure completely dysfunctional and 4.3.x has no alternative ones, such as the Headless Start workaround in 5.x versions. The 6.1.x is able to start the virtual system without workarounds and those annoying Hardening errors.

In short, update your VirtualBox and after that, try configuring settings. 6.1.x works pretty well outta box.