This error seems to appear with VirtualBox installs on versions of macOS 10.13.
To fix this issue, you have to uninstall VirtualBox (use the VirtualBox_uninstall.tool of the VirtualBox downloaded dmg).
Then, install it again executing VirtualBox.pkg. At the end of the install, go to System Preferences, Security and Privacy, and the click the allow button :
The preferences pane has changed in macOS Ventura. You have to find the corresponding section in Privacy & Security which has a button to configure the extensions and then asks fora restart.
This should solve your issue.