Hello,
Do you see printer from Win10 if you try to brows WinXP with \name or \ip_address in File Explorer?
Do you see printer from WinXP if you try to brows same PC with \name or \ip_address in File Explorer?
Are bothe PC in same Group/Domain?
Also see the link below, someone solved the problem with the same error:
https://learn.microsoft.com/en-us/answers/questions/601847/0x00000709-error-when-installing-a-shared-printer