Hello,
I think that is definitely driver related. Add both x86 & x64 driver to the xp machine where the printer is being shared. You have to install the appropriate drivers for the windows 10 architecture. Your xp machine is most likely 32 bit, however windows 10 is 64 bit. You can either right click on the printer on the xp machine, then go to sharing tab where you'll see this setting -or- go to the windows 10 machine, right click on the printer and select advanced tab then new driver. You can then select a predownloaded driver from the manufacturers website.
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