Install Error Catalina 10.15.5

[treevb]

I have tried installing Virtualbox using "brew cask install virtualbox" command, as well as downloading straight from vbox website. I always get this error:

Failure while executing; `/usr/bin/sudo -E -- /usr/bin/env LOGNAME=* USER=* USERNAME=* /usr/sbin/installer -pkg /usr/local/Caskroom/virtualbox/6.1.8,137981/VirtualBox.pkg -target / -applyChoiceChangesXML /var/folders/jr/lnchcqf52mjbsdg0fysms3r00000gn/T/choices20200528-13402-m8qb6o.xml` exited with 1.
(*redacted username)
It also asks me to contact the software manufacturer.

When checking my System Preferences -> Security&Privacy, I never get prompted to "allow" the installation. I have also tried installing 6.0 versions with no success.