Windows 10 supports LPR (Line Printer Remote) — a simple TCP-based protocol that XP understands well, without SMB complexity.
You cannot use a Windows 10 driver on Windows XP. compartir impresora en red windows 10 a windows xp link
Common Failure: "Windows cannot connect to the printer. Access denied." This is usually because Windows 10 requires SMB signing or guest access is disabled. To fix this, on Windows 10, open gpedit.msc (Group Policy Editor) > Computer Config > Admin Templates > Network > Lanman Workstation > Enable "Enable insecure guest logons". Windows 10 supports LPR (Line Printer Remote) —
Since Windows XP cannot speak modern SMB 3.0, use a utility that creates a proprietary link. on Windows 10