I performed another upgrade without ubuntu-release-upgrader (edit
sources, apt-get update, apt-get dist-upgrade) and the modules were not
built for the new kernel.

bdmurray@clean-yakkety-amd64:~$ dkms status
virtualbox, 5.1.18, 4.8.0-26-generic, x86_64: installed

Reinstalling linux-headers-4.10.0-19-generic again resolved the issue.

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https://bugs.launchpad.net/bugs/1681566

Title:
  nvidia-375 DKMS module not recompiled on upgrade to 17.04

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