You should first check the Sharp Global Support & Downloads page or your local regional site (e.g., Sharp USA ) to see if a Windows 10 "Universal Print Driver" or a legacy driver is available for your specific hardware ID.
Use the VM as a print server by sharing the printer back over your local network to your main Windows 10 PC. Are you running a sharp ar-5316 driver for windows 10
Official Windows 10 drivers do not exist for the Sharp AR-5316 because it is a legacy device You should first check the Sharp Global Support
If you just need occasional printing, connect the Sharp AR-5316 to a on your network and share it – Windows 10 will see the shared printer with no extra driver needed. sharp ar-5316 driver for windows 10