I'm running kernel 5.12.5 at the moment and to be honest, I can't find
the changes I made to SUPDrvTracer.c to make it work anymore? So
apparently something changed in 5.12.x or in virtualbox 6.1.18 packages
that make it work now for me?

Anyway, the commands to recompile the modules:
$ sudo make KERNELRELEASE=5.12.5 -C /lib/modules/5.12.5/build 
M=/var/lib/dkms/virtualbox/6.1.18/build/
$ sudo make modules_install KERNELRELEASE=5.12.5 -C /lib/modules/5.12.5/build 
M=/var/lib/dkms/virtualbox/6.1.18/build/
$ sudo modprobe vboxdrv
$ sudo modprobe vboxnetadp
$ sudo modprobe vboxnetflt

did the trick for me...

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https://bugs.launchpad.net/bugs/1922893

Title:
  virtualbox modules fail to build on hirsute for kernel 5.11

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