It appears that the issue could be a corrupt VirtualBox.xml file. The one I had did not have anything in it. Removing or moving the file let it create a new one and let VirtualBox actually start.

mv ~/.config/VirtualBox/VirtualBox.xml{,old}

Only problem is that none of the VM’s showed up. Was able to go to the ~/VirtualBox folder in a file browser and launch the vbox file to start the VM