TL;DR: Execute
"sudo kextcache -prune-staging" in a terminal.
The command "sudo kextcache -prune-staging" will remove all kernel extensions from the kernel extension staging area that are no longer present in their original location. When new kernel extensions are installed, they are copied into the staging area until they are approved by the user/administrator. So if you install VirtualBox, never approve the kernel extensions, and uninstall VirtualBox again, you probably end up where you are now.
EDIT: When new kernel extensions are installed (e.g. into
/Library/Extensions), they are additionally copied into the staging area (e.g. into
/Library/StagedExtensions/Library/Extensions), where they are protected by the
System Integrity Protection (SIP), even from (un-)installers. The approvals are kept in a separate database (
/private/var/db/SystemPolicyConfiguration/KextPolicy). The command
"sudo kextcache -prune-staging" will remove all kernel extensions from the kernel extension staging area that are no longer present in their original location. Educated Guess: If you install VirtualBox, and uninstall it again, you probably end up where you are now.
![Wink ;)](./images/smilies/icon_wink.gif)