Recently I setup a Vagrant 'box' based on generic/centos7 (from roboxes.org), which in more familiar terms (those who are unfamiliar with Vagrant) means a Virtualbox guest VM using an image based on CentOS7 Minimal ISO w/ 2 vCPU, 2GB vRAM, 1 NAT vNIC etc. My host is Windows 10 64-bit Enterprise Edition, and Virtualbox is 6.1.2. Vagrant does the 'automagical' creation of the Virtualbox guest with the right image and settings as defined above.
What I noticed on the guest VM is running Guest Additions version 5.2.34r133893 ! It seems that guest additions are working as expected -- well based on lsmod output, i.e.
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[vagrant@centos7 yum.repos.d]$ lsmod | grep vboxguest
vboxguest 311499 2 vboxsf
[vagrant@centos7 yum.repos.d]$ sudo /usr/sbin/VBoxService --version
5.2.34r133893
cheers.