I have the same problem like Yasha, with Kernel Vers. 3.10.0-327.3.1 (SL7.1). I did step back to VBox 5.10_104061_el7-1 and did recompile this but no chance. With Kernel Vers. 3.10.0-229.20.1.el7 VBox 5.10 did compile and run perfectly.
Looking at vbox-install.log I did get: KBUILD_VERBOSE=1 SUBDIRS=/tmp/vbox.1 SRCROOT=/tmp/vbox.1 CONFIG_MODULE_SIG= -C /lib/modules/3.10.0-327.3.1.el7.x86_64/build modules test -e include/generated/autoconf.h -a -e include/config/auto.conf include/generated/autoconf.h or include/config/auto.conf are missing. Is there something wrong with Kernel Vers. 3.10.0-327.3.1? Regards, Etienne Bäumle