It might be worth your time, if you haven't already, try updating the driver on the Windows 10 machine to this one
HP DesignJet 510 HP-GL/2 Full Feature Installer
To avoid complications and confusion it might be a good idea to remove any older drivers by uninstalling the existing printer first and then reinstalling it from scratch using the updated driver.
If I may, there may be a slight conflict between Win10 64-bit and WinXP which only the Pro version was available as 64-bit, sometimes makes a difference in drivers used.
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