I've had this exact problem myself and while I can't specifically say
what went wrong I've solved it this way:

- uninstall linux-headers-generic (and the version-specific ones)
- notice message `dpkg: warning: while removing 
linux-headers-5.11.0-37-generic, directory 
'/usr/src/linux-headers-5.11.0-37-generic' not empty so not removed`
- look into /usr/linux/linux-headers-5.11.0-37-generic and realize there's a 
.config.old file in there
- wipe out the directory fully using `sudo rm -Rf 
/usr/src/linux-headers-5.11.0-37-generic/`
- reinstall linux-headers-generic
- install virtualbox-dkms

Now the modules load correctly.

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https://bugs.launchpad.net/bugs/1929442

Title:
  can't load voboxdrv after upgrade to hirsute 21.04

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