Cannot configure VirtualBox because correct kernel RPMs cannot be found

I’m trying to configure VirtualBox on my CentOS 7.9 server.
However, my kernel version is 3.10.0-1160.99.1.el7.x86_64, and I cannot find kernel-devel-3.10.0-1160.99.1.el7.x86_64.rpm or kernel-headers-3.10.0-1160.99.1.el7.x86_64.rpm.

I tried looking at the following, but neither of them contain these RPMs:

wget https://vault.centos.org/7.9.2009/os/x86_64/Packages/kernel-headers-3.10.0-1160.99.1.el7.x86_64.rpm 

https://rpmfind.net/linux/rpm2html/search.php?query=kernel-headers-3.10.0-1160.99.1.el7.x86_64&submit=Search+...&system=&arch=

With the current installed RPMs, I’m getting this failure:

# /usr/lib/virtualbox/vboxdrv.sh setup
vboxdrv.sh: Stopping VirtualBox services.
vboxdrv.sh: Starting VirtualBox services.
vboxdrv.sh: Building VirtualBox kernel modules.
This system is currently not set up to build kernel modules.
Please install the Linux kernel "header" files matching the current kernel
for adding new hardware support to the system.
The distribution packages containing the headers are probably:
    kernel-devel kernel-devel-3.10.0-1160.99.1.el7.x86_64

Any idea how to get VirtualBox correctly configured?

Notes:

$ rpm -qa | egrep "kernel" | grep -v glibc | sort -V && uname -r
kernel-3.10.0-1160.80.1.el7.x86_64
kernel-3.10.0-1160.99.1.el7.x86_64
kernel-devel-3.10.0-1160.92.1.el7.x86_64
kernel-headers-3.10.0-1160.92.1.el7.x86_64
kernel-tools-3.10.0-1160.99.1.el7.x86_64
kernel-tools-libs-3.10.0-1160.99.1.el7.x86_64
3.10.0-1160.99.1.el7.x86_64