1. with a fresh Bionic64 using the kernel 4.19.23, loaded the devx and 32 bit compat libs. Then installed virtualbox-6.1_6.1.2-135662~Ubuntu~bionic_amd64.deb
2. loaded the kernel sources SFS for kernel 4.19.25-rt16
3. changed the kernel from 4.19.23 to 4.19.25-rt16
4. reboot
5. deleted the /lib/modules/4.19.25-rt16/build and /lib/modules/4.19.25-rt16/source symlinks
6. replaced with
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ln -s /usr/src/linux /lib/modules/4.19.25-rt16/build
ln -s /usr/src/linux /lib/modules/4.19.25-rt16/source
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#sg
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root# /etc/init.d/vboxdrv setup
vboxdrv.sh: Stopping VirtualBox services.
vboxdrv.sh: Starting VirtualBox services.
vboxdrv.sh: Building VirtualBox kernel modules
root#